Massage device

Abstract

According to one embodiment of the utility model, the massage device comprises a body massage part which is used for massaging at least one part of the body of a user; a first leg massage part and a second leg massage part which are provided at the lower part of the body massage part and can rotate in two or more directions; a first arm massage part provided at a position corresponding to the first leg massage part and capable of rotating in two or more directions; a second arm massage part provided at a position corresponding to the second leg massage part and capable of rotating in two or more directions; and a control unit that controls execution of one or more of a first relative operation of the first leg massage unit and the second leg massage unit and a second relative operation of the first arm massage unit and the second arm massage unit.

Description

Technical Field

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

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

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

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

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

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

[0007] Problem to be solved

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

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

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

[0011] Means used to solve problems

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

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

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

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

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

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

[0018] In addition, the control unit of the present invention can control the first direction and the second direction to alternate repeatedly.

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

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

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

[0022] In addition, the control unit of the present invention can control the time for executing the first action and the time for executing the second action to correspond to each other.

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

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

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

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

[0027] In addition, the first and second leg massage parts of the present invention may be configured to be extendable in length. In this case, the control unit of the present invention may control the length of the leg massage part that rotates upward, of the first and second leg massage parts, to decrease, and the length of the leg massage part that rotates downward to increase, when performing the first or second relative motion.

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

[0029] According to an embodiment, the first and second arm massage parts of the present invention may be configured to be extendable in length. In this case, when performing the first or second relative motion, the control unit of the present invention may control the arm massage part of the first and second arm massage parts that rotates in the direction corresponding to the upward direction to decrease in length, and the arm massage part that rotates in the direction corresponding to the downward direction to increase in length.

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

[0031] In addition, the control unit of the present invention can control the rotation of the first leg massage unit, the second leg massage unit, the first arm massage unit, and the second arm massage unit in conjunction with one or more of the rotation directions.

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

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

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

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

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

[0037] Effect of utility model

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

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

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

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

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

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

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

[0045] Figure 3 It is a figure for demonstrating the structural elements of the massage device of Example of this invention.

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

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

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

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

[0050] Figure 7 Yes Figure 6 Part A is enlarged in the figure.

[0051] Figure 8a 、 Figure 8b 1 is a diagram showing a rotating module part and an arm massage part according to an embodiment of the present invention.

[0052] Figure 9 This is a diagram showing a state before the rotation module part and the arm massage part are combined according to an embodiment of the present invention.

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

[0054] Figure 11 It is a bottom view showing the second rotating portion of one embodiment of the present invention.

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

[0056] Figure 15 It is a flow chart for explaining the overall processing process of the present invention.

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

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

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

[0060] Figure 19 This is a diagram for explaining the relationship between the movements of the massage device when it is tilted.

[0061] Figure 20 This is a diagram for explaining the operational relationship when the massage device returns to the basic posture.

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

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

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

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

[0066] Description of Reference Numerals

[0067] 200: Massage device

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

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

[0070] 240A: First leg driving unit

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

[0072] 240B: Second leg driving unit

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

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

[0075] 260A: First arm drive unit

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

[0077] 260B: Second arm drive unit

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

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

[0080] 211: Additional airbag DETAILED DESCRIPTION

[0081] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Before this, the terms and expressions used in this specification and claims are not limited to their ordinary or dictionary meanings, but should be interpreted as meanings and concepts that are consistent with the technical ideas of the present invention, based on the principle that inventors can define terms and concepts to best explain their own utility models.

[0082] Therefore, the embodiments described in this specification and the structures shown in the accompanying drawings are only the most preferred embodiments of the present invention and do not represent the technical ideas of the present invention. It should be understood that when submitting this application, there may be various equivalents and modifications that can replace them.

[0083] When a component is referred to as being “connected” or “coupled” to another component, it should be understood that it can be directly connected or coupled to the other component, or other components may be present between the two components.

[0084] On the contrary, when it is stated that a certain constituent element is "directly connected" or "directly coupled" to another constituent element, it should be understood that there are no other constituent elements therebetween. Other expressions used to describe the relationship between constituent elements should also be interpreted in the same manner.

[0085] The terms used in the present specification are used only to describe particular embodiments, and are not intended to limit the content of the present application, and singular expressions include plural expressions unless otherwise clearly specified in context.

[0086] The terms "include" or "have" or the like used in the present specification are used to designate the presence of an indicated feature, number, step, action, constituent element, member or a combination thereof, and do not preclude the presence or addition of one or more other features, numbers, steps, actions, constituent elements, members or combinations thereof.

[0087] Unless otherwise defined, all terms used herein, including technical terms and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains. The terms defined in a generally used dictionary should be interpreted to have the same meaning as the contextual meaning in the relevant art, and are not to be interpreted in an ideal or overly formal sense unless otherwise clearly defined in the present specification.

[0088] The actuator in the present specification refers to a structure capable of providing a driving force. For example, the actuator can include a motor, a linear motor, an electronic motor, a direct current (DC) motor, an alternating current (AC) motor, a linear actuator, an electric actuator, etc., but is not limited thereto.

[0089] In the present specification, the binaural beat can refer to audio information capable of adjusting a specific form of brain waves. In the present specification, according to an embodiment, the massage device can refer to a massage device including a body massage part and a leg massage part. In addition, according to another embodiment, the body massage part and the leg massage part can exist as independent devices (for example, a body massage device and a leg massage device) separated from each other, and the massage device can refer to the body massage device or the leg massage device.

[0090] Hereinafter, referring to Figures 1 to 11 , first, the basic embodiment of the present application and the detailed contents of the present application such as a driving mechanism will be described, and the detailed contents of the embodiments of the present application providing a combination mode will be described later.

[0091] Figure 11 is a diagram illustrating an embodiment of a massage device according to the present invention. The massage device 100 according to the embodiment of the present invention includes: a body massage unit 1000 forming an area for accommodating at least a portion of a user's 10 body and massaging the user's body; a leg massage unit 2000 for massaging the user's legs; an arm massage unit 3000; and a drive module.

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

[0093] The body massage unit 1000 can massage at least a portion of a user's body. The body massage unit 1000 may include a massage module 1700 for massaging at least a portion of the user's body; an audio output module 1500 for providing any form of audio output to the user; a main frame 1100 forming the frame of the body massage unit 1000; and a user input unit 1400 for receiving any form of input from the user.

[0094] The above-mentioned structures of the body massage part 1000 are merely exemplary embodiments. In addition to the above-mentioned structures, the body massage part 1000 may further include various structures.

[0095] In addition, if Figure 1 The shape and structure of the massage device 100 shown are merely examples. Without departing from the scope of rights defined in the claims of the present invention, various forms of massage devices 100 should also fall within the scope of the present invention.

[0096] The body massage part 1000 may form a space of any shape for accommodating the user. The body massage part 1000 may have a space of a shape corresponding to the shape of the user's body. For example, Figure 1 As shown, the body massage part 1000 can be implemented in a seated type capable of accommodating the entire body or a part of the body of the user 10 .

[0097] The portion of the body massage part 1000 that contacts the ground may include any material or any component (eg, a non-slip pad) for increasing friction, and may include wheels for enhancing the mobility of the massage device 100 .

[0098] At least a portion of the body massage part 1000 can slide. For example, when the body massage part 1000 begins massaging, at least a portion of the body massage part 1000 can slide forward. Alternatively, the body massage part 1000 can be tilted backward by driving a tilt actuator or the like. Consequently, the body massage part 1000 can provide massage while tilted backward.

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

[0100] The massage device 100 may include an air supply unit (not shown) that supplies air to the airbags to inflate them. The air supply unit may be located inside the body massage unit 1000 or the leg massage unit 2000. Alternatively, the air supply unit may be located outside the massage device 100.

[0101] The leg massage part 2000 can provide leg massage to the user.For example, the leg massage part 2000 may include a calf massage part for massaging the user's calves and / or a foot massage part for massaging the user's feet.

[0102] The length of the leg massage section 2000 can be adjusted based on the user's physical characteristics. For example, when a tall user uses the massage device 100, the length of the leg massage section 2000 may need to be lengthened due to the user's longer calves. Conversely, when a shorter user uses the massage device 100, the length of the leg massage section 2000 may need to be shortened due to the user's shorter calves. Therefore, the leg massage section 2000 can provide a leg massage tailored to the user's height.

[0103] Reference Figure 1 Multiple leg massage parts 2000 may be provided, and the right and left feet of the user 10 may be inserted into the multiple leg massage parts 2000A and 2000B, respectively. Specifically, a pair of leg massage parts 2000A and 2000B may be independently driven. The leg massage parts 2000 will be described in detail later.

[0104] The massage module 1700 can be arranged inside the body massage part 1000 to provide any form of mechanical stimulation to the user accommodated in the body massage part 1000. Figure 1 The main frame 1100 inside the body massage part 1000 shown moves.

[0105] For example, the main frame 1100 of the body massage part 1000 may include a rack gear 1112, and the massage module 1700 provides mechanical stimulation to various parts of the user's body while moving along the rack gear 1112. The massage module 1700 may include a ball massage unit or a roller massage unit, but is not limited thereto.

[0106] The massage module 1700 can be configured to have its protrusion degree adjusted differently in the direction toward the seated user, and can also be configured as a dual module with an adjustable spacing therebetween. With this structure, not only can the intensity of the massage provided to the user be varied, but also the location of the massage provided can be varied.

[0107] The main frame 1100 is used to form the frame of the internal structure of the body massage part 1000, and can be made of metal materials and / or plastic materials. For example, the main frame 1100 can be made of iron, alloy, steel, etc., but is not limited thereto, and can also be made of various strong materials.

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

[0109] The audio output module 1500 can be provided in various locations. For example, the audio output module 1500 can include multiple output units, such as an upper audio output unit provided at the upper end of the seat portion 1000a that contacts a user seated on the massage device 100, a front audio output unit attached to the front ends of the arm massage portions 3000 on the left and right sides of the seat portion 1000a, and / or a rear audio output unit attached to the rear ends of the arm massage portions 3000, but the present invention is not limited thereto.

[0110] According to an embodiment of the present invention, the seat portion 1000a provided on the massage device 100 may include: an upper body support portion for supporting the upper body of the user; and a lower body support portion for supporting the lower body of the user.

[0111] The upper body support part contacts and supports the user's upper body, specifically, from the head to the back, and the lower body support part contacts and supports the user's body, such as the buttocks and thighs, which are the lower areas of the upper body support part.

[0112] According to an embodiment of the present invention, the user can use the massage device control device CD to control the massage device 100. The massage device control device CD can be connected to the massage device 100 through wired communication and / or wireless communication.

[0113] The massage device control device CD may include a remote controller, a mobile phone, a personal digital assistant (PDA), etc., but is not limited thereto, and may include various electronic devices that can be connected to the massage device 100 via wired communication or wireless communication.

[0114] Figure 2 Is used to illustrate Figure 1 Figure 1100 of the main frame, Figure 3 It is a diagram for explaining the components of a massage device according to one embodiment of the present invention.

[0115] According to an embodiment of the present invention, the massage device 100 may include at least one of a main frame 1100 , a control unit 1200 , a storage unit 1300 , a user input unit 1400 , an audio output module 1500 , a network connection unit 1600 , and a massage module 1700 .

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

[0117] According to an embodiment of the present invention, the main frame 1100 may include a main frame provided with the massage module 1700 and a base frame 1130 for supporting the main frame.

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

[0119] A rack 1112 may be provided on at least a portion of the main frame. The rack 1112 is used to guide the body massage module to move in an up and down direction (in Figure 2 The moving component (based on) may include multiple valleys and multiple ridges.

[0120] According to an embodiment of the present invention, the rack 1112 may be disposed on the main frame, specifically, on both sides of the back frame 1110 and the seat frame 1120 facing each other, and the body massage module may be movable along the rack 1112 .

[0121] For example, the body massage module may include a gear engaged with the rack 1112, and the gear is rotated by an actuator provided in the body massage module, so that the body massage module can move upward or downward.

[0122] The rack 1112 can be made of metal or plastic. For example, the rack 1112 can be made of iron, steel, alloy, reinforced plastic, melamine resin, phenolic resin, etc., but is not limited thereto.

[0123] The main frame can be implemented in various shapes. For example, the main frame can be divided into S frame, L frame, S&L frame, double S&L frame according to the shape, but is not limited to this.

[0124] An S-frame is a frame in which at least a portion of the main frame has an S-shaped curve. An L-frame is a frame in which at least a portion of the main frame includes an L-shaped curve. An S&L frame includes both an S-shaped curve and an L-shaped curve. A double S&L frame includes both an L-shaped curve and two S-shaped curves.

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

[0126] The base upper frame 1131 can support the main frame, and the base lower frame 1132 can be in contact with the ground. In addition, the base upper frame 1131 can be provided in a manner of contacting the base lower frame 1132.

[0127] According to one embodiment of the present invention, the base upper frame 1131 is movable along the base lower frame 1132. For example, the base upper frame 1131 can slide forward or backward along the base lower frame 1132. In this case, since the main frame is connected to the base upper frame 1131, it can move along with the movement of the base upper frame 1131.

[0128] For example, when the base upper frame 1131 moves forward, the main frame can also move forward together, and when the base upper frame 1131 moves backward, the main frame can also move backward together. This allows the body massage part 1000 to slide.

[0129] The control unit 1200 is capable of controlling the operation of the massage device 100. The control unit 1200 may include a single processor or multiple processors. When the control unit 1200 includes multiple processors, at least some of the multiple processors may be located at locations physically separated from each other. The control unit 1200 is not limited thereto and may be implemented in various ways.

[0130] For example, the control unit 1200 may correspond to one or more processors. A processor may be implemented by an array of multiple logic gates, or may be implemented by a combination of a general-purpose microprocessor and a memory storing a program executable by the microprocessor. Of course, the control unit 1200 may also be implemented by hardware in a different form.

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

[0132] For example, the massage device 100 may include a plurality of actuators, and the massage device 100 may control the motion of the massage device 100 by controlling the motion of the plurality of actuators.

[0133] For example, the massage device 100 may include a moving actuator of the massage module, at least one actuator included in the massage module 1700, a back angle actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator and at least one of the sliding actuators. The control unit 1200 can control the movement of the massage device 100 by controlling these actuators.

[0134] In this specification, the term "leg length adjustment actuator" may refer to a connecting drive unit provided in the leg massage unit 2000. The massage module moving actuator is an actuator capable of moving the massage module 1700 up and down. The massage module 1700 can be moved along the rack 1112 by the operation of the massage module moving actuator.

[0135] The back angle actuator is an actuator that adjusts the angle of the portion of the user's back that contacts the massage device 100 . The back angle of the massage device 100 can be adjusted by the operation of the back angle actuator.

[0136] The leg angle actuator is an actuator for adjusting the angle of the leg massage part 2000 of the massage device 100 . The angle between the leg massage part 2000 and the body massage part 1000 can be adjusted by the operation of the leg angle actuator.

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

[0138] The massage module 1700 may include at least one actuator, and the control unit 1200 may provide a variety of massage actions by operating the at least one actuator. For example, the control unit 1200 may provide a patting massage, a kneading massage, etc. by operating the at least one actuator in the massage module 1700, but is not limited thereto and may provide a variety of massage actions.

[0139] The leg length adjustment actuator, i.e., the connection drive unit, is an actuator for adjusting the length of the leg massage part 2000. For example, the control unit 1200 can use the leg length adjustment actuator to adjust the length of the leg massage part 2000 to suit the user, resulting in the user receiving a massage that suits their body shape.

[0140] The sliding actuator enables the massage device 100 to perform a sliding motion. For example, the horizontal base upper frame 1131 can be moved forward or backward by the action of the sliding actuator, and as a result, the main frame connected to the horizontal base upper frame 1131 can also be moved forward or backward.

[0141] The storage unit 1300 may store various information related to the massage device 100. For example, the storage unit 1300 may include massage control information and personal authentication information, but is not limited thereto.

[0142] The storage unit 1300 may be implemented by a non-volatile storage medium capable of continuously storing arbitrary data.

[0143] The storage unit 1300 may include a memory. The memory may be, but is not limited to, a random access memory (RAM) such as dynamic random access memory (DRAM) or static random access memory (SRAM), serving as a primary storage device directly accessed by the processor. It may be a volatile storage device whose stored information is instantly erased when power is disconnected. This memory may be operated by the control unit 1200.

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

[0145] The massage device 100 can receive various commands from the user via the user input unit 1400. For example, the massage device 100 can receive arbitrary commands such as selection of a massage module, selection of a massage mode, selection of massage intensity, selection of massage time, selection of a massage area, selection of the position and movement of the body massage unit 1000, selection of turning on / off the power of the massage device 100, selection of whether to activate the heating function, selection of a sound source, etc., but the present invention is not limited thereto.

[0146] As an optional embodiment, the user input unit 1400 may have various buttons in the form of hot keys and / or option buttons for selecting, canceling, and inputting execution directions according to preset user settings or preset functions.

[0147] The user input unit 1400 can be implemented as a touch screen, keyboard, dome switch, touchpad (static pressure / static electricity), wheel, jog switch, etc., but is not limited thereto. In addition, the user input unit 1400 can obtain commands based on the user's voice based on voice recognition technology.

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

[0149] The audio output module 1500 can be configured to output audio to the user in various formats or forms. For example, the audio output module 1500 can provide brain stimulation to the user by outputting a sound source and / or binaural beats optimized for the massage mode provided by the massage device 100. The audio output module 1500 can output sound signals received from a network (not shown) or stored in an internal or external storage medium (not shown).

[0150] For example, the audio output module 1500 can output a sound source based on the control of the user terminal via a connection with the user terminal and a network (e.g., Bluetooth connection, etc.). In addition, the audio output module 1500 can output any form of sound signal generated in association with the operation of the massage device 100.

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

[0152] The network connection unit 1600 can communicate with modules within the massage device 100 , external massage devices 100 , and / or user terminals via any form of network, and can include a wired / wireless connection module for network connection.

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

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

[0155] The control unit 1200 can move the massage module 1700 along the X-axis, Y-axis, and Z-axis. The control unit 1200 can move the massage ball forward or backward along the X-axis, Y-axis, and Z-axis. Alternatively, the control unit 1200 can rotate the massage ball around the X-axis, Y-axis, and Z-axis.

[0156] The massage device 100 according to an embodiment of the present application can include a sensor portion 4000. At this time, the sensor portion 4000 can include at least one sensor. For example, the sensor portion 4000 can include a touch sensor, a pressure sensor, an infrared sensor, an LED sensor, a light sensor, a Hall sensor, an electrostatic sensor, etc., but is not limited thereto.

[0157] The sensor portion 4000 can be used to acquire various information. For example, the sensor portion 4000 can be used to identify a user. That is, information about whether the user is seated, the user's body type, whether the user's body has an abnormality, etc. can be acquired.

[0158] As another example, the sensor portion 4000 can be used to acquire biological information. That is, fingerprint information, face information, voice information, weight information, electrocardiogram information, iris information, body composition information, etc. can be acquired, but is not limited thereto, and various biological information can be included.

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

[0160] In addition, the massage device 100 can provide a personalized massage according to the acquired information. For example, when the massage device 100 provides a shoulder massage, the massage device 100 identifies a shoulder position of the user according to information acquired through the sensor portion 4000, and can provide a shoulder massage to the user according to the identification result.

[0161] The leg massage portion 2000 can be a structure for massaging a user's leg. A leg accommodation space for accommodating a user's leg can be formed in the leg massage portion 2000.

[0162] Referring to Figure 1 , Figure 4 , Figure 5a and Figure 5b , a plurality of leg massage portions 2000 can be provided, and a user's right foot and left foot can be accommodated in the plurality of leg massage portions 2000A, 2000B, respectively.

[0163] Specifically, the plurality of leg massage portions 2000A, 2000B can include a foot massage portion and a lower leg massage portion, and can be inserted, mounted, and accommodated with a user's right foot and left foot, respectively.

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

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

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

[0167] Reference Figure 4 Due to the power generated by the hinge driving part 2700 connected to the main frame 1100, the leg massage part 2000 hinges (or rotates) in a clockwise or counterclockwise direction based on the hinge (or rotation) center axis preset in the main frame 1100, and the leg angle can be adjusted.

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

[0169] Various implementations are possible, for example Figure 4 As shown, only any one of the plurality of leg massage parts 2000A and 2000B rotates relative to the main frame 1100 to adjust the leg angle, or adjusts the leg angle so that the plurality of leg massage parts 2000A and 2000B form the same angle relative to the main frame 1100.

[0170] Reference Figure 1 The arm massage part 3000 according to an embodiment of the present invention can allow the user's arm to be inserted and can provide the user with an arm massage function.

[0171] Multiple arm massage parts 3000 may be provided, and the right and left arms of the user 10 may be inserted into the multiple arm massage parts 3000A and 3000B, respectively. The multiple arm massage parts 3000A and 3000B may be driven independently or relative to each other. The arm massage parts 3000 will be described in detail later.

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

[0173] Figure 6 This is a diagram showing a state in which a main frame and a rotating module are connected in accordance with an embodiment of the present invention. Figure 7 Yes Figure 6 The enlarged view of part A is shown in FIG. Figure 8a 、 Figure 8b 1 is a diagram showing a rotating module part and an arm massage part according to an embodiment of the present invention.

[0174] Figure 9 This is a diagram showing a state before the rotation module part and the arm massage part are combined in one embodiment of the present invention. Figure 10 This is a perspective view showing the second rotating portion of an embodiment of the present invention. Figure 11 It is a bottom view showing the second rotating portion of one embodiment of the present invention.

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

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

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

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

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

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

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

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

[0183] Referring to Figure 2 and Figure 7 , the pair of side frame bodies 1153a, 1153b can be spaced apart by a predetermined distance.

[0184] The first rotating part 5100 can be inserted into a space formed between the pair of side frame bodies 1153a, 1153b, and the pair of side frame bodies 1153a, 1153b can contact and support both sides (upper and lower sides with the base frame body 1151 as a reference) of the first rotating part 5100. Figure 7

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

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

[0187] According to an embodiment of the present application, the side frame bodies 1153a, 1153b can be connected to the base frame body 1151, and one pair of side frame bodies 1153a, 1153b can be provided and can contact and support both sides of the first rotating part 5100.

[0188] Referring to Figure 1 , Figure 5a , Figure 5b , Figure 6 , Figure 8a , Figure 8b and Figure 9 , the rotating module part 5000 according to an embodiment of the present application rotates the arm part massage part 3000 with respect to the body massage part 1000 in the up-down direction and / or the left-right direction, and regarding the rotating module part 5000, a detailed description will be given later, and hereinafter, the arm part massage part 3000 will be described first.

[0189] Referring to Figure 1 , Figure 5a , Figure 5b , Figure 6 ​​​, Figure 8 and Figure 9 According to an embodiment of the present invention, the arm massage part 3000 accommodates the user's arm and can massage the user's arm.

[0190] According to an embodiment of the present invention, a pair of arm massage parts 3000 may be provided to be disposed on both sides of the body massage part 1000 .

[0191] The right arm and the left arm of the user 10 can be inserted into the pair of arm massage parts 3000A and 3000B, respectively. The pair of arm massage parts 3000A and 3000B can be driven independently or relatively.

[0192] Reference Figure 5a 、 Figure 5b 、 Figure 8a and Figure 8b The arm massage part 3000 receives power from the rotation module part 5000 and can rotate relative to the body massage part 1000 .

[0193] Reference Figure 5a and Figure 5b The arm massage part 3000 can rotate in the left-right direction relative to the body massage part 1000 based on the first rotation center axis AX1, and can rotate in the up-down direction relative to the body massage part 1000 based on the second rotation center axis AX2.

[0194] Reference Figure 1 、 Figure 5a 、 Figure 5b 、 Figure 6 、 Figure 8a 、 Figure 8b and Figure 9 The arm massage part 3000 according to an embodiment of the present invention may include an arm housing part 3100 , an arm massage body part 3300 , an arm movement guide part 3330 and a shoulder airbag 3500 .

[0195] Reference Figure 1 、 Figure 5a 、 Figure 5b 、 Figure 8a 、 Figure 8b and Figure 9 According to an embodiment of the present invention, the arm housing portion 3100 includes an arm receiving portion 3110 for receiving the user's arm, which can be connected to the rotation module portion 5000 .

[0196] Reference Figure 8a 、 Figure 8b and Figure 9, shows an arm massage part 3000B for accommodating the user's left arm. Since the structure, operating principle and effect are the same as those of the arm massage part 3000A for accommodating the user's right arm, the following description will be based on the arm massage part 3000B for accommodating the user's left arm.

[0197] Reference Figure 9 The arm housing portion 3100 forms the outer appearance of the arm massage portion 3000 , and an arm receiving portion 3110 may be formed inside thereof, which is a space for receiving the user's arm.

[0198] Reference Figure 9 The arm housing portion 3100 can be connected to the rotating module portion 5000 described later, specifically, can be connected to the second rotating portion 5500, and the arm housing portion 3100 can be rotated with a preset rotation center axis AX2 as a reference by the rotational power generated from the second rotating portion 5500.

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

[0200] Reference Figure 9 A rotation guide portion 3105 may be formed in the shape of a groove on a surface of the arm housing portion 3100 facing the rotation module portion 5000, specifically, the second rotation portion 5500. The rotation guide portion 3105 is a predetermined distance from the second rotation center axis AX2 and may be formed within a predetermined interval along the circumferential direction.

[0201] That is, the stopper 5511 formed on the second rotating portion 5500 is inserted into the rotation guide portion 3105 , and the arm housing portion 3100 can rotate only in the section where the rotation guide portion 3105 is formed.

[0202] For example, when the rotation guide part 3105 forms a section corresponding to 180 degrees in the circumferential direction around the second rotation center axis AX2, the arm housing part 3100 can rotate 180 degrees relative to the body massage part 1000 and the second rotation part 5500.

[0203] However, the present invention is not limited thereto, and various modifications may be made, such as extending the rotation guide portion 3105 to have intervals of 90 degrees and 270 degrees centered on the second rotation center axis AX2.

[0204] According to an embodiment of the present invention, a rotation guide portion 3105 is formed in the arm housing portion 3100 , and the stopper 5511 of the second rotating portion 5500 can be disposed on the rotation guide portion 3105 .

[0205] Therefore, the arm shell part 3100 can rotate with the second rotation center axis AX2 as the reference until the two ends of the rotation guide part 3105 contact the stopper 5511 set on the second rotation part 5500, and the interval of the rotation guide part 3105 can be set to the rotatable angle of the arm massage part 3000 relative to the second rotation part 5500.

[0206] That is, due to the rotation guide portion 3105 formed on the arm housing portion 3100 and the stopper 5511 formed on the second rotating portion 5500 , the rotation angle of the arm massage portion 3000 can be limited.

[0207] Reference Figure 5a According to one embodiment of the present invention, a surface of the arm housing 3100 (with Figure 8a 、 Figure 8b The lower surface of the reference) can protrude to form a coupling protrusion 3101. Figure 1 As shown, in the initial position of the massage device 100 where the user 10 is seated, the arm massage part 3000 may be installed on the body massage part 1000 .

[0208] At this time, on one side (with Figure 1 The coupling protrusion 3101 may be formed extending along the length direction (eg, the front-rear direction of the massage device 100 ) on the lower surface of the massage device 100 .

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

[0210] When the arm massage part 3000 is mounted on the body massage part 1000, the coupling protrusion 3101 formed on the arm massage part 3000 is inserted into and mounted on the protrusion groove part 1005 formed on the body massage part 1000, thereby having an effect that the arm massage part 3000 can be stably configured at a preset position on the body massage part 1000.

[0211] In the present invention, the coupling protrusion 3101 is formed in a bar-like extension, but is not limited to this. Various deformation implementations can be made within the following technical ideas. The coupling protrusion 3101 is installed on the inner side of the protrusion groove portion 1005 formed in the body massage portion 1000, and guides the installation position of the arm massage portion 3000.

[0212] Reference Figure 8a 、 Figure 8b and Figure 9The arm receiving portion 3110 is a receiving space for the user's arm to be inserted, and can be formed into a groove shape according to a preset depth. The arm receiving portion 3110 can be provided with the arm massage main body 3300 described later.

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

[0214] The shoulder airbag 3500 may be a structure for fixing at least a portion of the user's arm. The shoulder airbag 3500 provided in the arm housing 3100 may be a structure for fixing at least a portion of the user's arm, such as the shoulder area, by receiving air from a separate air supply unit and expanding.

[0215] Reference Figure 8a and Figure 8b According to an embodiment of the present invention, the shoulder airbag 3500 can be configured in an area corresponding to the user's shoulder.

[0216] Reference Figure 5b 、 Figure 6 、 Figure 8a 、 Figure 8b and Figure 9 According to an embodiment of the present invention, the arm massage main body 3300 is provided on the arm housing 3100 , on which the user's arm can be placed, and can provide a massage function for the user's arm.

[0217] The arm massage body 3300 according to an embodiment of the present invention may include an arm massage body 3310 and an arm movement guide 3330. The arm massage body 3310 is a place where the user's arm is placed and can come into contact with the user's arm.

[0218] Although not shown in the drawings, an air bag may be provided in the arm massage body 3310. The air bag receives air from the air supply part to expand and / or contract, thereby applying pressure to the user's arm and providing a massage function.

[0219] As an optional embodiment, a massage module (not shown) may be provided on the arm massage body 3310. The massage module may include a roller that can contact the user's arm and provide a massage function.

[0220] The arm massage body 3310 may be provided to be movable inside the arm receiving portion 3110. Figure 8a and Figure 8b According to an embodiment of the present invention, the arm massage body 3310 can move along a preset direction and adjust its position on the arm movement guide 3330 described later.

[0221] Reference Figure 6 、 Figure 8a and Figure 8b According to an embodiment of the present invention, the arm movement guide portion 3330 is disposed on the arm accommodating portion 3110 and provides a movement path for the arm massage body 3310 , and may include a guide plate 3331 and a guide rail 3335 .

[0222] The guide plate 3331 is combined with the arm massage body 3310 , and as the guide plate 3331 moves on the guide rail 3335 , the arm massage body 3310 combined with the guide plate 3331 may move together.

[0223] Reference Figure 8a and Figure 8b According to an embodiment of the present invention, the guide rail 3335 is provided on the arm receiving portion 3110 formed on the arm housing portion 3100 , and can provide a movement path for the guide plate 3331 and the arm massage body 3310 combined with the guide plate 3331 .

[0224] The guide rail 3335 can be moved along a preset direction (in Figure 8a and Figure 8b The guide plate 3331 and the arm massage body 3310 coupled to the guide plate 3331 may move on the guide rail 3335 .

[0225] In this specification, the “front-rear direction” in which the arm massage body 3310 moves refers to a direction where the direction from the user's shoulder toward the fingers is the front direction and the direction from the user's fingers toward the shoulder is the rear direction.

[0226] Although not shown in the drawings, the arm movement guide 3330 may include a guide driving portion driven by receiving power from the outside, and the guide plate 3331 coupled to the arm massage body 3310 may move linearly forward and / or backward on the guide rail 3335 by the power generated from the guide driving portion.

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

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

[0229] As an alternative embodiment, the guide plate 3331 may include a block slidable on the guide rail 3335 , and the block may move on a groove portion formed in the guide rail 3335 in a surface contact manner.

[0230] The control unit 1200 can be electrically connected to the guide drive unit and the rotation module unit 5000. When the arm massage unit 3000 rotates relative to the body massage unit 1000 through the rotational power generated by the rotation module unit 5000, the electrical signal is transmitted to the guide drive unit, thereby controlling the movement amount of the arm massage body 3310.

[0231] That is, the control unit 1200 can control the movement amount of the arm massage body 3310 on the arm movement guide 3330 based on the rotation amount of the arm massage unit 3000, and can make the arm massage body 3310 move linearly according to the user's arm position that changes with the rotation of the arm massage unit 3000.

[0232] Reference Figure 1 、 Figure 5a 、 Figure 5b 、 Figures 6 to 11 According to an embodiment of the present invention, the rotating module part 5000 connects the arm massage part 3000 and the body massage part 1000, has multiple different rotation center axes AX1 and AX2, and can generate rotational power based on the multiple rotation center axes AX1 and AX2.

[0233] Reference Figure 5a and Figure 5b According to one embodiment of the present invention, the rotating module 5000 can rotate the arm massage part 3000 about a plurality of rotational axes AX1 and AX2. The rotating module 5000 is provided in a pair to correspond to the pair of arm massage parts 3000A and 3000B, and can be respectively provided on either side of the body massage part 1000. The pair of rotating module 5000 can be driven independently of each other.

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

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

[0236] The first rotating part 5100 can move the arm massage part 3000 in the left-right direction (with Figure 5b as the reference) rotation.

[0237] The second rotating part 5500 according to an embodiment of the present invention can rotate the arm massage part in the vertical direction relative to the body massage part 1000 with reference to a second rotation center axis AX2 different from the first rotation center axis AX1.

[0238] That is, the second rotating part 5500 generates a rotating force with the second rotation center axis AX2 as a reference, and can make the arm massage part 3000 move in the vertical direction (with respect to the body massage part 1000) relative to the body massage part 1000. Figure 5a as the reference) rotation.

[0239] In the rotating module part 5000 according to an embodiment of the present invention, the first rotating part 5100 may generate rotational power based on the first rotation center axis AX1, and the second rotating part 5500 may generate rotational power based on the second rotation center axis AX2.

[0240] However, the present invention is not limited thereto, and various modifications may be performed. For example, the first rotating portion 5100 generates rotational power based on the second rotation center axis AX2, and the second rotating portion 5500 generates rotational power based on the first rotation center axis AX1.

[0241] The following description is based on the following: the first rotating part 5100 connected to the main frame 1100, specifically, the module frame 1150 generates rotational power based on the first rotation center axis AX1, and the second rotating part 5500 generates rotational power based on the second rotation center axis AX2.

[0242] Reference Figure 7 According to an embodiment of the present invention, the first rotating part 5100 and the second rotating part 5500 can be rotatably coupled to each other. According to an embodiment of the present invention, the first rotating part 5100 and the second rotating part 5500 can be formed identically.

[0243] That is, since the first rotating part 5100 and the second rotating part 5500 have the same structure and are rotatably coupled to each other, the structure of components for aligning the arm massage part 3000 with the body massage part 1000 can be simplified and modularized.

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

[0245] Specifically, the first rotating part 5100 may include: a main housing 5110 that can be set in the body massage part 1000; a rotating body that is rotatably set in the main housing 5110; and a rotating driving part 5150 that is set in the main housing 5110, receives power and transmits power to the rotating body 5130.

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

[0247] Referring to Figure 7 , the main housing 5110 can be inserted into the module frame 1150, specifically, can be inserted into the pair of side frame bodies 1153a, 1153b. That is, both side surfaces (an upper surface and a lower surface with reference to Figure 7 , of the main housing 5110 can be contacted and supported by the pair of side frame bodies 1153a, 1153b.

[0248] Referring to Figure 7 , one of the both side surfaces (a lower surface with reference to Figure 7 , of the main housing 5110 contacted and supported by the pair of side frame bodies 1153a, 1153b can be contacted and supported by the base frame body 1151 connected with the module frame 1150, specifically, the side frame body 1153a.

[0249] Since the first rotating part 5100, specifically, the main housing 5110 is connected with the module frame 1150 and disposed on the main frame 1100, there is an effect that a position of the first rotating part 5100 can be stably fixed.

[0250] In addition, since the pair of side frame bodies 1153a, 1153b contact and support both side surfaces of the main housing 5110, there is an effect that the main housing 5110 can be prevented from rotating or deforming.

[0251] Referring to Figure 8a , Figure 8b , and Figure 9 , the main housing 5110 according to an embodiment of the present application can be provided with a rotating body 5130 and a rotating driving part 5150.

[0252] Referring to Figure 11 , the stopper 5111 can be protrusively formed in a surface (an upper surface with reference to Figure 9 , of the first rotating part 5100 which can contact the second rotating part 5500.

[0253] Figure 11 is a view illustrating a surface (a bottom surface with reference to Figure 10 , of the second rotating part 5500 rotatably connected with the first rotating part 5100, and the stopper 5111 protrusively formed in the first rotating part 5100, specifically, the main housing 5110 can be disposed inside a rotating guide part 5513 formed in a shape of a groove part.

[0254] That is, when the second rotating part 5500 rotates on the first rotating part 5100, it rotates clockwise and / or counterclockwise with the first rotation center axis AX1 as a reference, and the rotating guide part 5513 moves as the second rotating part 5500 rotates while the position of the stop block 5111 formed on the first rotating part 5100 is fixed.

[0255] Reference Figure 11 When the stopper 5111 protruding from the main housing 5110 of the first rotating part 5100 contacts the two end portions of the rotating guide portion 5513 formed on the second rotating part 5500, the second rotating part 5500 can no longer rotate, thereby limiting the rotation amount (or rotation angle) of the second rotating part 5500 rotating on the first rotating part 5100.

[0256] Reference Figure 8a 、 Figure 8b and Figure 9 According to one embodiment of the present invention, on one side of the first rotating part 5100 that can contact the second rotating part 5500 (with Figure 9 The other side (based on the upper surface) is different Figure 9 As a reference, the rotation coupling groove portion 5115 may be formed in the shape of a groove portion.

[0257] Specifically, the other surface of the first rotating part 5100 may be perpendicular to the first surface. From another perspective, the depth direction center axis of the rotation coupling groove portion 5115 formed on the other surface may be formed parallel to the second rotation center axis AX2 of the second rotating part 5500.

[0258] That is, since the first rotating part 5100 and the second rotating part 5500 have the same structure so as to be rotatably coupled to each other, the rotation coupling groove portion 5115 can be formed in the shape of a groove portion on the first rotating part 5100 so as to be capable of being inserted and coupled to a rotating body of any rotating part that generates rotational power based on the second rotation center axis AX2.

[0259] Reference Figure 8a 、 Figure 8b and Figure 9 On one surface of the main housing 5110 where the rotation coupling groove portion 5115 is formed, a preset distance is provided from the center of the rotation coupling groove portion 5115, and the rotation guide portion 5113 is extended in the shape of the groove portion along the circumferential direction.

[0260] Since the rotation guide portion 5113 formed in the first rotating portion 5100 has the same structure as the rotation guide portion 5513 formed in the second rotating portion 5500 , a detailed description will be given later.

[0261] Reference Figure 9 According to an embodiment of the present invention, the rotating body 5130 is rotatably disposed on the main housing 5110 and can be combined with the second rotating part 5500 .

[0262] The rotating body 5130 may penetrate one side of the main housing 5110 , and a predetermined area may be exposed to the outside, and the area may be combined with the main housing 5510 of the second rotating part 5500 .

[0263] The rotating body 5130 may receive power from a rotation driving unit 5150 to be described later, and transmit the power to the second rotating unit 5500 connected to the first rotating unit 5100 .

[0264] Reference Figure 9 According to an embodiment of the present invention, the rotating body 5130 provided on the first rotating part 5100 can rotate about the first rotation center axis AX1 as the rotation center axis. The rotating body 5130 can be combined with the main housing 5510 provided on the second rotating part 5500.

[0265] Therefore, as the rotating body 5130 rotates, the main housing 5510 provided on the second rotating part 5500 can rotate together, and as the main housing 5510 rotates, the arm massage part 3000 combined with the second rotating part 5500 can rotate clockwise and / or counterclockwise (with the first rotation center axis AX1 as the reference). Figure 5b as the left and right direction of the reference).

[0266] Reference Figure 5b According to an embodiment of the present invention, the pair of arm massage parts 3000A and 3000B can be rotated respectively around the first rotation center axes AX1a and AX1b by the rotational power generated by the first rotating part 5100.

[0267] For example, when the pair of arm massage parts 3000A and 3000B rotate in opposite directions with respect to the first rotation center axes AX1a and AX1b, the pair of arm massage parts 3000A and 3000B can move closer to each other to be located on the seat part 1000a formed on the body massage part 1000, as shown in FIG. Figure 5b As shown, the two massage parts can be moved away from each other toward the outside of the body massaging part 1000.

[0268] As an alternative embodiment, the pair of arm massage parts 3000A and 3000B may rotate in the same direction with respect to the first rotation center axes AX1a and AX1b.

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

[0270] Although not shown in the drawings, the rotating body 5130 provided at the first rotating portion 5100 may be inserted and coupled to the rotation coupling groove portion 5515 formed at the main housing 5510 provided at the second rotating portion 5500 .

[0271] Therefore, as the rotating body 5130 provided in the first rotating part 5100 rotates, the main housing 5510 provided in the second rotating part 5500 can also rotate together.

[0272] Reference Figure 8a and Figure 8b According to an embodiment of the present invention, the rotation driving unit 5150 is provided in the main housing 5110 and transmits power to the rotating body 5130 by receiving power from the outside.

[0273] Reference Figure 8a and Figure 8b The rotation drive unit 5150 may include a drive unit 5151 and a power transmission unit 5153. The drive unit 5151 generates power and may be formed as a motor. The drive unit 5151 may generate rotational power by receiving power from the outside and may transmit it to the power transmission unit 5153.

[0274] Reference Figure 8a and Figure 8b According to an embodiment of the present invention, the power transmission unit 5153 may include at least one gear. Specifically, the power transmission unit 5153 includes a plurality of gears 5153a, 5153b, and 5153c, which can transmit the power generated by the driving unit 5151 to the rotating body 5130.

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

[0276] Reference Figure 8a and Figure 8b , the first gear 5153a combined with the driving unit 5151 can be formed as a worm gear, and the second gear 5153b connected to the first gear 5153a can be formed as a gear integrating a helical gear and a worm gear.

[0277] In addition, the third gear 5153 c connected to the second gear 5153 b can be formed as a helical gear having the first rotation center axis AX1 as the rotation center axis, and the first rotation center axis AX1 is the rotation center axis of the rotating body 5130.

[0278] However, the present invention is not limited thereto, and various modifications can be made within the technical concept of being able to transmit the power generated by the driving unit 5151 to the rotating body 5130. For example, the power transmission part 5153 can adopt a power transmission method using multiple gears such as rack and pinion.

[0279] Although not shown in the drawings, the rotating body 5130 may include a shaft connectable to the gear 5153 c provided at the power transmission part 5153 . Therefore, the power generated from the driving unit 5151 may be transmitted to the rotating body 5130 through the power transmission part 5153 .

[0280] Reference Figure 8a 、 Figure 8b and Figure 9 When the power generated from the rotation driving part 5150 is transmitted to the rotating body 5130, the rotating body 5130 can rotate clockwise and / or counterclockwise with the first rotation center axis AX1 as a reference, and the main shell 5510 of the second rotating part 5500 combined with the rotating body 5130 can rotate together.

[0281] like Figure 5b As shown, as the main housing 5510 of the second rotating part 5500 rotates, the arm massage part 3000 combined with the second rotating part 5500, specifically the arm housing part 3100, can move relative to the body massage part 1000 in the left and right directions (with the first rotation center axis AX1 as the reference). Figure 5b as the reference) rotation.

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

[0283] Similarly, the arm massage part 3000b for receiving the user's left arm can rotate relative to the body massage part 1000 in the left-right direction about the 1-2 rotation center axis AX1b provided in parallel with the 1-1 rotation center axis AX1a.

[0284] Reference Figures 6 to 11 According to an embodiment of the present invention, the second rotating unit 5500 may include a main housing 5510 , a rotating body 5530 and a rotating driving unit 5550 .

[0285] Reference Figure 7 、 Figure 8a and Figure 8b The main housing 5510 forms an outer appearance of the second rotating part 5500 and may be provided on the main housing 5110 in the first rotating part 5100 .

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

[0287] Reference Figure 9 and Figure 11 The rotation coupling groove portion 5515 may be formed in the shape of a groove portion on one side of the main housing 5510 of the second rotating portion 5500 facing the main housing 5110 of the first rotating portion 5100 (in the form of a groove portion). Figure 9 as the lower surface of the reference).

[0288] Specifically, the one surface of the main housing 5510 may be a surface perpendicular to the other surface on which the rotating body 5530 is provided.

[0289] From another perspective, the depth direction central axis of the rotation coupling groove portion 5515 formed on the one surface may be formed to be identical to the first rotation central axis AX1 provided on the rotation main body 5130 of the first rotation portion 5100 .

[0290] That is, since the second rotating part 5500 and the first rotating part 5100 have the same structure so as to be rotatably coupled to each other, the rotation coupling groove portion 5515 can be formed in the shape of a groove portion on the second rotating part 5500 so as to enable the rotating body 5130 of the first rotating part 5100 that generates rotational power based on the first rotation center axis AX1 to be inserted into and coupled to the rotation coupling groove portion 5515.

[0291] Reference Figure 10 and Figure 11 , on one surface of the main housing 5510 where the rotation coupling groove portion 5515 is formed, a preset distance is provided from the center of the rotation coupling groove portion 5515, and the rotation guide portion 5513 is extended in the shape of the groove portion along the circumferential direction.

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

[0293] Reference Figure 9 Although the rotating body 5130 of the first rotating part 5100 inserted into the rotating coupling groove portion 5515 of the second rotating part 5500 is blocked and not shown in the figure, a stopper 5111 can be protruded from one side of the main shell 5110 on which the rotating body 5130 of the first rotating part 5100 is rotatably set.

[0294] Reference Figure 11 In a state where the first rotating part 5100 and the second rotating part 5500 are connected, the stopper 5111 provided on the first rotating part 5100 may be provided inside the rotation guide 5513 formed on the main housing 5510 of the second rotating part 5500 .

[0295] Reference Figure 11 When the second rotating part 5500 rotates on the first rotating part 5100, it can rotate clockwise and / or counterclockwise with respect to the first rotation center axis AX1.

[0296] At this time, in a state where the position of the stopper 5111 formed on the first rotating part 5100 is fixed, the rotation guide part 5513 moves as the second rotating part 5500 rotates relative to it.

[0297] The following effect is achieved: when the stopper 5111 protruding from the main housing 5110 of the first rotating part 5100 contacts the two end portions of the rotating guide part 5513 formed on the second rotating part 5500, the second rotating part 5500 can no longer rotate, thereby limiting the rotation amount (or rotation angle) of the second rotating part 5500 rotating on the first rotating part 5100.

[0298] Reference Figure 7 and Figure 9 The stopper 5511 can be formed on one side of the main shell 5510 to protrude outward, and a rotating body 5530 of the second rotating part 5500 is provided on one side of the main shell 5510 to be inserted into the groove part formed in the arm massage part 3000, specifically formed in the arm shell part 3100.

[0299] Reference Figures 7 to 9 In a state where the second rotating portion 5500 and the arm housing portion 3100 are connected, the stopper 5511 provided on the second rotating portion 5500 may be provided inside the rotation guide portion 3105 formed on the arm housing portion 3100 .

[0300] Reference Figure 8a 、 Figure 8b and Figure 9 When the arm housing portion 3100 rotates on the second rotating portion 5500, it rotates clockwise and / or counterclockwise with the second rotation center axis AX2 as a reference. While the position of the stop block 5511 formed on the second rotating portion 5500 is fixed, the rotation guide portion 3105 moves as the arm housing portion 3100 rotates.

[0301] The following effect is achieved: when the stopper 5511 protruding from the main housing 5510 of the second rotating part 5500 contacts the two end portions of the rotation guide portion 3105 formed on the arm housing portion 3100, the arm housing portion 3100 can no longer rotate, thereby limiting the rotation amount (or rotation angle) of the arm massage portion 3000 rotating on the second rotating part 5500.

[0302] Reference Figures 7 to 10According to an embodiment of the present invention, the main housing 5510 may be provided with a rotating body 5530 and a rotating driving part 5550 .

[0303] Reference Figure 9 According to an embodiment of the present invention, the rotating body 5530 is rotatably disposed on the main housing 5510 and can be combined with the arm massage part 3000, specifically, the arm housing part 3100.

[0304] The rotating body 5530 may penetrate one side of the main housing 5510 , and a predetermined area may be exposed to the outside, and the area may be combined with the arm massage part 3000 , specifically, with the arm housing part 3100 .

[0305] The rotating body 5530 may receive power from a rotation driving unit 5550 to be described later, and transmit the power to the arm housing portion 3100 connected to the second rotating unit 5500 .

[0306] Reference Figure 9 According to an embodiment of the present invention, the rotating body 5530 provided on the first rotating portion 5500 can rotate about the second rotation center axis AX2. The rotating body 5530 can be combined with the arm housing portion 3100.

[0307] Therefore, as the rotating body 5530 rotates, the arm housing portion 3100 can rotate together, and the arm massage portion 3000 can rotate clockwise and / or counterclockwise (with the second rotation center axis AX2 as the reference). Figure 5a as the reference up and down direction).

[0308] Reference Figure 5a According to an embodiment of the present invention, the pair of arm massage parts 3000A and 3000B can be rotated respectively around the second rotation center axes AX2a and AX2b by the rotational power generated by the second rotating part 5500.

[0309] According to an embodiment of the present invention, the pair of arm massage parts 3000A and 3000B can rotate in the same direction with respect to the second rotation center axes AX2a and AX2b.

[0310] However, the pair of arm massage parts 3000A and 3000B may rotate in opposite directions relative to the second rotation center axes AX2a and AX2b. In this case, the pair of arm massage parts 3000A and 3000B may rotate in different directions relative to the body massage part 1000 and provide a stretching function. Figure 9 , the rotating body 5530 provided in the second rotating portion 5500 may be inserted and coupled to the groove portion formed in the arm housing portion 3100 .

[0311] Therefore, there is an effect that the arm housing part 3100 in which the groove part is provided can rotate together as the rotation main body 5530 provided in the second rotation part 5500 rotates.

[0312] Referring to Figure 8a , Figure 8b and Figure 10 , the rotation driving part 5550 according to an embodiment of the present application is provided in the main housing 5510, and transmits power to the rotation main body 5530 by receiving power from the outside.

[0313] Referring to Figure 8a , Figure 8b and Figure 10 , the rotation driving part 5550 can include a driving unit 5551 and a power transmission part 5553. The driving unit 5551 generates power, and can be formed as a motor. The driving unit 5551 can generate rotational power by receiving power from the outside, and can transmit the same to the power transmission part 5553.

[0314] Referring to Figure 8a , Figure 8b and Figure 10 , the power transmission part 5553 according to an embodiment of the present application can include at least one gear. Specifically, the power transmission part 5553 includes a plurality of gears 5553a, 5553b, 5553c, and can transmit power generated from the driving unit 5551 to the rotation main body 5530.

[0315] The gears 5553a, 5553b, 5553c provided in the power transmission part 5553 according to an embodiment of the present application can be formed as a worm gear, a helical gear, etc.

[0316] Referring to Figure 8a and Figure 8b , the first gear 5553a combined with the driving unit 5551 can be formed as a worm gear, and the second gear 5553b connected to the first gear 5553a can be formed as a gear in which a helical gear and a worm gear are integrated.

[0317] In addition, the third gear 5553c connected to the second gear 5553b can be formed as a helical gear having the second rotation center axis AX2 as a rotation center axis, the second rotation center axis AX2 being a rotation center axis of the rotation main body 5530.

[0318] However, it is not limited thereto, and various modifications can be made within the technical idea capable of transmitting power generated from the driving unit 5551 to the rotation main body 5530, for example, the power transmission part 5553 can adopt a power transmission method using various gears such as a rack and pinion, etc.

[0319] Although not shown in the drawings, the rotating body 5530 may include a shaft connectable to the gear 5553 c provided at the power transmission part 5553 . Therefore, the power generated from the driving unit 5551 may be transmitted to the rotating body 5530 through the power transmission part 5553 .

[0320] Reference Figure 8a 、 Figure 8b and Figure 9 When the power generated from the rotation driving part 5550 is transmitted to the rotating body 5530, the rotating body 5530 can rotate clockwise and / or counterclockwise with the second rotation center axis AX2 as a reference, and the arm housing part 3100 combined with the rotating body 5530 can rotate together.

[0321] Specifically, if Figure 5a As shown, the arm housing 3100 can be rotated in the vertical direction (with the second rotation center axis AX2) relative to the body massage part 1000. Figure 5a as the reference) rotation.

[0322] That is, the arm massage part 3000A that receives the user's right arm can rotate relative to the body massage part 1000 in the vertical direction with reference to the 2-1st rotation center axis AX2a.

[0323] Similarly, the arm massage part 3000B for accommodating the user's left arm can rotate relative to the body massage part 1000 in the left-right direction with reference to the 2-2nd rotation center axis AX2b provided parallel to the 2-1st rotation center axis AX2a.

[0324] In a massage device according to one embodiment of the present invention, the rotating module part 5000 has multiple different rotating center axes AX1, AX2 and generates rotational power, and rotates the arm massage part 3000 with each of the multiple rotating center axes AX1, AX2 as a reference, so that the arm massage part 3000 can rotate in the upward and downward directions and / or left and right directions, thereby having the effect of providing various arm massage functions to the user.

[0325] In addition, since the first rotating part 5100 and the second rotating part 5500 have the same structure and are relatively rotatably coupled, the structure of components for aligning the arm massage part 3000 with the body massage part 1000 can be simplified and modularized.

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

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

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

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

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

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

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

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

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

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

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

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

[0338] The second leg rotating section 240BR is connected to the second leg massaging section 230B and can adjust the angle of the second leg massaging section 230B. For example, the second leg rotating section 240BR is positioned between the rear of the second leg massaging section 230B and the body massaging section 210, connecting the second leg massaging section 230B and the body massaging section 210. The second leg rotating section 240BR can be pushed or pulled from the rear to rotate (or tilt) the second leg massaging section 230B clockwise and / or counterclockwise, thereby adjusting the angle of the second leg massaging section 230B.

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

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

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

[0342] In the following, the Z-axis direction (refer to Figure 2 ) as a reference direction for the up-down or vertical direction, and from a corresponding perspective, the embodiments of the present invention are described with the X-axis direction as the reference direction for the front-back direction, and the Y-axis direction as the reference direction for the left or right direction. For example, the positive Z-axis direction corresponds to the upward direction, the upper side, the upper side, or a direction corresponding thereto, and the negative Z-axis direction corresponds to the downward direction, the lower side, the lower side, or a direction corresponding thereto.

[0343] Figures 12 to 14 1 is a block diagram showing the detailed structure of a massage device 200 according to an embodiment of the present invention. Figure 15 It is a flow chart for explaining the overall processing process of the present invention.

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

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

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

[0347] That is, each constituent element shown in the drawings corresponds to a constituent element used to effectively illustrate the technical idea according to the present invention. Therefore, even if each constituent element is integrated or separated, as long as it can realize the function of executing the structure of the present invention, it should be understood as being within the scope of the present invention, and if it is a constituent element that performs the same or similar function, it should be interpreted as being within the scope of the present invention regardless of whether its name is consistent.

[0348] In addition, the control method of the massage device according to the present invention can be implemented as a processing set or algorithm related to the processing, handling, control, calculation and input and output of the overall data, so it can of course be implemented in the form of software installed on a device, computer (or corresponding device), module or its lower-level structure.

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

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

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

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

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

[0354] In other words, the first leg massage part 230A can be rotated and moved in two or more directions by the first leg driving part 240A. For example, the first leg massage part 230A can be rotated (or tilted) toward the upper side (or forward, clockwise) and / or the lower side (or rearward, counterclockwise) of the massage device 200 by the first leg rotating part 240AR, thereby adjusting the angle of the first leg massage part 240A. The first leg massage part 230A can be moved toward the upper side (or toward one end) and / or the lower side (or toward the other end) of the first leg massage part 230A by the first leg length adjusting part 240AL, thereby adjusting the vertical length of the first leg massage part 230A.

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

[0356] In other words, the second leg massage section 230B can be rotated and moved in two or more directions by the second leg driving section 240B. For example, the second leg massage section 230B can be rotated (or tilted) in the upper direction (or forward direction, clockwise) and / or lower direction (or rearward direction, counterclockwise) of the massage device 200 by the second leg rotating section 240BR, thereby adjusting the angle of the second leg massage section 230B. The second leg massage section 230B can be moved in the upper direction (or toward one end) and / or toward the lower direction (or toward the other end) of the second leg massage section 230B by the second leg length adjusting section 240BL, thereby adjusting the vertical length of the second leg massage section 230B.

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

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

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

[0360] In other words, the first arm massage part 250A is rotatable and movable in two or more directions via the first arm driving part 260A. For example, the first arm massage part 250A can be rotated (or tilted) in at least one of the upper (or rearward, clockwise) direction, the lower (or forward, counterclockwise) direction, the side (or leftward, inward) direction, and the other side (or rightward, outward) direction of the massage device 200 via the first arm rotating part 260AR, thereby adjusting the angle of the first arm massage part 250A. The first arm massage part 250A can be moved toward one end (or front end) and / or the other end (or rear end) of the first arm massage part 250A via the first arm length adjusting part 260AL, thereby adjusting the front-to-back length of the first arm massage part 250A. Therefore, the length of the first arm massage part 250A can be adjusted.

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

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

[0363] In other words, the second arm massage part 250B is rotatable and movable in two or more directions via the second arm driving part 260B. For example, the second arm massage part 250B can be rotated (or tilted) in at least one of the upper (or rearward, clockwise) direction, the lower (or forward, counterclockwise) direction, the side (or leftward, inward) direction, and the other side (or rightward, outward) direction of the massage device 200 via the second arm rotating part 260BR, thereby adjusting the angle of the second arm massage part 250B. The second arm massage part 250B can be moved toward one end (or front end) and / or the other end (or rear end) of the second arm massage part 250B via the second arm length adjusting part 260BL, thereby adjusting the front-to-back length of the second arm massage part 250B. Therefore, the length of the second arm massage part 250B can be adjusted.

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

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

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

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

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

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

[0370] The relative motion described in the present invention refers to the motion relationship between the first leg massage part 230A and the second leg massage part 230B, or the motion relationship between the first arm massage part 250A and the second arm massage part 250B, and refers to various motion relationships including relative motion, independent motion, linked motion, and / or quasi-linked motion between the first and second leg massage parts 230A and 230B, or the first and second arm massage parts 250A and 250B. In this case, the motion may refer to various motions of each structure, such as the aforementioned length-related movement motion and / or angle-related rotation (or tilting, rotating) motion.

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

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

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

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

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

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

[0377] In the preparatory movement mode, you can perform a massage focusing on the erector spinae muscles or acupressure stimulation massage from the cervical spine to the coccyx. In addition, in this mode, the airbags can be used to massage the shoulders, arms, and calves in a sequential or random manner, or the soles of the feet can be massaged with rollers.

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

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

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

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

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

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

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

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

[0386] In addition, in the closing action mode, such as Figure 20 As shown, the control unit 270 of the present invention can control the posture of the massage device 200 to return from the tilt posture or switch to the standby posture or the default posture.

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

[0388] The control unit 270 can cause one or more of the aforementioned airbags to operate during at least one of a preparatory movement mode, a combined movement mode, a reverse movement mode, and a finishing movement mode, thereby further enhancing or focusing the effects of rehabilitation, exercise, or stretching, or preventing safety accidents or injuries. For example, the control unit 270 can control one or more of the aforementioned airbags to selectively or temporally expand or contract based on the rotation of the arm massage parts 250A, 250B and / or the leg massage parts 230A, 230B. Specific embodiments of this will be described later.

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

[0390] The control unit 270 of the present invention can control the rotation of the first leg massage unit 230A and the second arm massage unit 250B (for example, the left leg and the right arm or the right leg and the left arm) at a position intersecting the first leg massage unit 230A, and can control the rotation of the second leg massage unit 230B and the first arm massage unit 250A (for example, the right leg and the left arm or the left leg and the right arm) at a position intersecting the second leg massage unit 230B, and at least one of the rotation directions (S220A, S230A).

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

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

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

[0394] In the first mode, the arm massage part and the leg massage part, which are arranged at positions intersecting each other, move in conjunction with each other. In order to reflect this motion characteristic, the movement in the first mode is referred to as a cross movement.

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

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

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

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

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

[0400] At this time, the reference position or reference angle can be set separately for each leg massage part and each arm massage part, or can be set to be the same or similar. When one cycle of the operation of the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B is completed, the control part 270 can control the change of the rotation direction of the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B.

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

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

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

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

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

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

[0407] The second mode is a mode in which the leg and arm massage units are arranged in symmetrical positions (or side by side or parallel positions) and driven in pairs with corresponding directionality. For example, this corresponds to a mode in which the user's left leg and left arm are controlled to move in tandem with the right leg and right arm. To reflect this motion characteristic, movement in the second mode is referred to as synchronized movement.

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

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

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

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

[0412] When the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B reach a reference position or reference angle, the control unit 270 may determine that a cycle of movement of the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B has been completed. In this case, the reference position or reference angle may be set separately for each leg massage part and each arm massage part, or may be set to be the same or similar. When a cycle of movement of the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B has been completed, the control unit 270 may control the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B to change their rotational directions.

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

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

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

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

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

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

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

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

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

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

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

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

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

[0426] According to the implementation structure of the present invention, since the rotation times of the legs and arms can be guided to correspond to each other, the activity characteristics of the legs and arms performed during actual walking or running can have a higher similarity.

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

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

[0429] The above embodiment can be similarly applied to the second mode. Specifically, the control unit 270 of the present invention can control the timing of the first leg massage part 230A rotating in the first direction through the third motion of the second mode and the timing of the first arm massage part 250A rotating in the direction corresponding to the first direction through the third motion of the second mode to correspond to each other. The same applies to the fourth motion of the second mode.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0444] When the first arm massage part 250A or the second arm massage part 250B rotates or moves in the first direction or the second direction through the driving of the above combination mode, the control part 270 of the present invention can control the rotation in the three-dimensional direction corresponding to the above first direction or the second direction.

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

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

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

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

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

[0450] For example, the control unit 270 of the present invention can control the linkage of the length extension action of multiple leg massage parts 230A, 230B and the length contraction action of multiple arm massage parts 250A, 250B, or can control the length contraction action of multiple leg massage parts 230A, 230B and the length extension action of multiple arm massage parts 250A, 250B.

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

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

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

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

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

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

[0457] Since the available range of the body or the position / angle of pain may be different depending on the user's characteristics, illness, injured part, etc., as described above, when the rotation angle range of the combination mode is adjusted according to the user's selection, etc., it can be more user-oriented.

[0458] Here, the user information refers to various information that can be stored in a database, and may include one or more of the user's age, gender, age, illness, injury site, etc. Furthermore, the user's body information may be information that has been stored in a database in advance, or may be information about the user's body dimensions measured using a measurement unit set in the massage device 200.

[0459] According to an embodiment, the user input unit 1400 or the like provides an input button or the like through which a plurality of angle ranges can be selected through a GUI environment, and the plurality of angle ranges can be variably set through a user selection of a provided interface environment or the like, the plurality of selectable angle ranges can be guided through the audio output module 1500, and a method of selecting an angle range through voice recognition can be applied.

[0460] As described above, the leg massage portions 230A and 230B are respectively provided to be length-adjustable, and the arm massage portions 250A and 250B are also respectively provided to be length-adjustable.

[0461] When the leg massage portions 230A and 230B are rotated by the driving of the first or second relative motion and the combined mode or the like (S310, S410), the control portion 270 of the present application can control the length of the leg massage portion in the upward direction (S320A, S420A) to decrease (S330A, S430A).

[0462] When the leg massage portions 230A and 230B are rotated by the driving of the first or second relative motion and the combined mode or the like (S310, S410), the control portion 270 of the present application can control the length of the leg massage portion in the upward direction (S320A, S420A) to decrease (S330A, S430A).

[0463] In addition, when the arm massage portions 250A and 250B are rotated by the driving of the first or second relative motion and the combined mode or the like (S310, S410), the control portion 270 of the present application can control the length of the arm massage portion in the upward direction (S320A, S420A) to decrease (S330A, S430A), and can control the length of the arm massage portion in the downward direction (S320A, S420A) to increase (S330B, S430B).

[0464] As described above, the length of the leg massage portions 230A and 230B is adaptively adjusted by organically reflecting the directionality of the leg massage portions 230A and 230B, and the length of the arm massage portions 250A and 250B is adaptively adjusted by organically reflecting the directionality of the arm massage portions 250A and 250B, so that the movement or the like corresponding to the actual activity characteristics of the human body structure such as walking or running can be more effectively guided, and the effects of movement, stretching, rehabilitation, or the like corresponding thereto can be provided to the user.

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

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

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

[0468] When the airbag is inflated, gaps and the like can be suppressed, thereby guiding and firmly supporting the body part in contact with the airbag, and when the airbag is deflated, the degree of freedom of the body part can be relatively increased by releasing the support.

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

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

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

[0472] As described above, when each leg massage part and / or each arm massage part rotates in an upward direction or a direction corresponding thereto under the control of the control unit 270, the airbag contracts, and when it rotates in a downward direction or a direction corresponding thereto, the airbag expands, but the present invention is not limited thereto. For example, when each leg massage part and / or each arm massage part rotates in an upward direction, the airbag expands, or expands and then contracts, or contracts and then expands, and when it rotates in a downward direction, the airbag contracts, or contracts and then expands, or expands and then contracts.

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

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

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

[0476] According to the implementation form, the massage device 200 of the present invention may include additional air bags 211 provided at the user's shoulders and / or pelvis.

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

[0478] Although the present invention is described above through limited embodiments and drawings, the present invention is not limited thereto, and ordinary technicians in the technical field to which the present invention belongs can make various modifications and variations within the equivalent scope of the technical concept of the present invention and the scope of the claims.

[0479] In the above description of the present invention, modifiers such as the first and second are merely tool-conceptual terms used to relatively distinguish constituent elements from each other, and therefore should be interpreted as not terms used to indicate a specific order, priority, etc.

[0480] The accompanying drawings used to illustrate the present invention and its embodiments may be illustrated in a slightly exaggerated form in order to emphasize or highlight the technical content of the present invention, but considering the above content and matters shown in the drawings, etc., it should be understood that it is obvious that various types of modifications and application examples are possible at the level of ordinary technicians in this technical field.

[0481] The control method of the massage device 200 according to the present invention can be implemented as computer-readable code on a computer-readable recording medium. Computer-readable recording media include all types of recording devices that store computer-readable data (CD-ROM, RAM, ROM, floppy disk, magnetic disk, hard disk, optical magnetic disk, etc.), and may also include servers for wired and wireless Internet transmission.

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

Claims

1. A massage device, characterized in that: include: a body massage unit for massaging at least a portion of a user's body; a first leg massage part and a second leg massage part, which are arranged at the lower part of the body massage part and can rotate in two or more directions; a first arm massage part, arranged at a position corresponding to the first leg massage part and capable of rotating in two or more directions; a second arm massage part, provided at a position corresponding to the second leg massage part and capable of rotating in two or more directions; as well as The control unit controls execution of one or more of a first relative motion between the first leg massage unit and the second leg massage unit and a second relative motion between the first arm massage unit and the second arm massage unit.

2. The massage device according to claim 1, wherein: The control unit controls the first leg massage unit and the second arm massage unit to rotate or not and one or more rotation directions in conjunction with each other, and controls the second leg massage unit and the first arm massage unit to rotate or not and one or more rotation directions in conjunction with each other.

3. The massage device according to claim 1, wherein: The control unit controls the first leg massage unit and the first arm massage unit to rotate or not and one or more rotation directions in conjunction with each other, and controls the second leg massage unit and the second arm massage unit to rotate or not and one or more rotation directions in conjunction with each other.

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

5. The massage device according to claim 3, wherein: The control unit controls the execution of a first action and a second action, wherein the first action is that the first leg massage unit rotates in a first direction and the first arm massage unit rotates in a direction corresponding to the first direction, and the second action is that the second leg massage unit rotates in a second direction different from the first direction and the second arm massage unit rotates in a direction corresponding to the second direction.

6. The massage device according to claim 4 or 5, characterized in that: The first arm massage part and the second arm massage part are configured to be rotatable in vertical and horizontal directions. The control part controls the first arm massage part or the second arm massage part to rotate in a three-dimensional direction corresponding to the first direction or the second direction.

7. The massage device according to claim 4 or 5, characterized in that: The control unit controls the first direction and the second direction to alternate repeatedly.

8. The massage device according to claim 1, wherein: The angle range within which one or more of the first leg massage part, the second leg massage part, the first arm massage part, and the second arm massage part rotate is set to be changeable based on one or more of user information, user body information, and user selection information.

9. The massage device according to claim 7, characterized in that The control unit generates count information by using the number of times the first direction and the second direction alternate, and when the count information corresponds to the number of times information input by the user, controls output of the corresponding guidance information.

10. The massage device according to claim 1, wherein Also included is a body driving portion for changing the position or posture of the body massaging portion; The control unit controls the body driving unit so that the body massaging unit performs a tilting motion in which the body massaging unit tilts backward prior to the first relative motion or the second relative motion.

11. The massage device according to claim 4 or 5, characterized in that: The control portion controls a time when the first action is performed and a time when the second action is performed to correspond to each other.

12. The massage device according to claim 4, characterized in that The control unit controls the time when the first leg massage unit rotates in the first direction by the first motion and the time when the second arm massage unit rotates in a direction corresponding to the first direction by the first motion to correspond to each other.

13. The massage device according to claim 5, characterized in that The control unit controls the time when the first leg massage unit rotates in the first direction by the first motion and the time when the first arm massage unit rotates in a direction corresponding to the first direction by the first motion to correspond to each other.

14. The massage device according to claim 1, wherein The massage apparatus further comprises one or more of a first leg airbag provided at the first leg massage portion, a second leg airbag provided at the second leg massage portion, a first arm airbag provided at the first arm massage portion, and a second arm airbag provided at the second arm massage portion; When the first relative motion or the second relative motion is performed, the control unit controls one or more of the first leg airbag, the second leg airbag, the first arm airbag, and the second arm airbag to inflate.

15. The massage device according to claim 1, wherein The first leg massage part and the second leg massage part are configured to be retractable in length. When the first relative motion or the second relative motion is performed, the control part controls the length of the leg massage part rotating upward of the first leg massage part and the second leg massage part to decrease, and controls the length of the leg massage part rotating downward to increase.

16. The massage device according to claim 15, characterized in that Also includes: a first leg airbag, provided in the first leg massage part, and a second leg airbag, provided at the second leg massage part; When the first leg massage part or the second leg massage part rotates upward, the control part controls the first leg airbag or the second leg airbag to contract, and when the first leg massage part or the second leg massage part rotates downward, the control part controls the first leg airbag or the second leg airbag to expand.

17. The massage device according to claim 1, wherein The first arm massage part and the second arm massage part are configured to be retractable in length. When the first relative motion or the second relative motion is performed, the control unit controls the length of the arm massage unit that rotates in the direction corresponding to the upper direction, of the first and second arm massage units, to decrease, and the length of the arm massage unit that rotates in the direction corresponding to the lower direction to increase.

18. The massage device according to claim 1, wherein Also included are additional air bags disposed on the shoulders or pelvis of the user; When the second relative motion is performed, the control portion controls the additional airbag to contract.

19. The massage device according to claim 1, wherein The control unit controls the first leg massage unit, the second leg massage unit, the first arm massage unit, and the second arm massage unit to rotate and control at least one of the rotation directions.

20. The massage device according to claim 1, wherein The control unit controls the first leg massage unit and the second leg massage unit to rotate in a first direction, and controls the first arm massage unit and the second arm massage unit to rotate in a second direction different from the first direction.

21. The massage device according to claim 1, wherein The control unit controls the first leg massage part and the second leg massage part to rotate in a first direction in conjunction with contraction of the length of the first leg massage part and the second leg massage part, and controls the first arm massage part and the second arm massage part to rotate in a second direction different from the first direction in conjunction with extension of the length of the first arm massage part and the second arm massage part.

22. The massage device according to claim 15, wherein Also includes: a first leg driving part for driving at least one of rotation and length extension of the first leg massage part; and The second leg driving part drives at least one of rotation and length extension of the second leg massaging part.

23. The massage device according to claim 17, wherein: Also includes: a first arm driving part for driving at least one of rotation and length extension of the first arm massage part; and The second arm driving part drives at least one of rotation and extension / contraction of the second arm massage part.

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