Massage device

Abstract

The massage device according to one embodiment of the present application includes: a body massage portion that massages at least a portion of a user's body; a massage module that moves in an up-down direction in the body massage portion and provides massage to the user; and a control portion that controls the massage module to perform a correction action that corrects a cervical spine portion of the user.

Description

Technical Field

[0001] This utility model relates to a massage device for massaging the cervical spine, and more specifically, to a massage device that can more effectively correct cervical spine problems. Background Technology

[0002] Massage is a medical adjunctive therapy that uses various forms of mechanical stimulation, such as kneading, pressing, stretching, tapping, or movement, to apply or induce these stimulations to the user's body, thereby regulating the user's physiological rhythms, improving blood circulation, and relieving fatigue.

[0003] With changes in dietary habits, lifestyles, activity areas, and lifestyles, as well as increased attention to health and work-life balance, the demand for massage devices or equipment that can provide muscle relaxation, relieve tension, restore fatigue, and release stress (hereinafter collectively referred to as "massage devices") is increasing.

[0004] In recent years, massage devices have gone beyond simply providing massage to the user's body; they have also come to be electronic devices that offer various additional functions, convenience features, and medical assistance.

[0005] However, the functions added to massage devices are merely auxiliary functions to increase user convenience in using the massage device, such as the interface, or to make it easier to perform other activities besides massage. They are not related to the extent to which functions such as exercise or stretching provide direct stimulation or effects to the user's body.

[0006] Although there are some massage devices that provide massage to the user's neck or cervical spine, these devices simply provide the regular massage or massage modes provided to the legs or arms to the cervical spine (neck), which is just a change of body part.

[0007] Therefore, when using traditional massage devices, it is difficult to prevent or improve turtle neck syndrome, which is a musculoskeletal disease, and it is also impossible to effectively correct deformed cervical spine curves or effectively maintain cervical lordosis (the normal cervical spine shape and structure that forms a C-shaped curve). Utility Model Content

[0008] Problems to be solved by utility models

[0009] The present invention is proposed under the above background, and its purpose is to provide a massage device that utilizes the organic movement relationship between the massage module and the massage ball in the massage device to not only provide more effective massage to the cervical spine, but also to provide effects such as improving and correcting the cervical spine curve, relaxing neck muscles, and effectively maintaining cervical lordosis.

[0010] Another object and advantage of this utility model can be understood from the following description and will become more apparent from the embodiments of this utility model. Furthermore, the object and advantages of this utility model can be achieved through the configuration and combinations thereof described in the claims.

[0011] The technical problems to be solved by this utility model are not limited to those mentioned above. Other problems not mentioned can be clearly understood by those skilled in the art through the following description of the utility model.

[0012] means for solving problems

[0013] To achieve the aforementioned objective, a massage device according to an embodiment of the present invention may include: a body massage section for massaging at least a portion of a user's body; a massage module that moves in the body massage section in a vertical direction and provides massage to the user; and a control section for controlling the massage module to perform corrective actions to correct the user's cervical spine.

[0014] Preferably, the massage module of this utility model may include: a first massage ball and a second massage ball, which are spaced apart from each other in the left-right direction and are respectively capable of moving in one or more of the front-back, left-right, and right-back directions.

[0015] In this case, the control unit of the present invention can control the execution of a first action in which one or more of the first and second massage balls move forward, thereby traction on the user's cervical spine.

[0016] Furthermore, the lateral distance between the first and second massage balls of this invention can be adjusted. In this case, the first action of this invention can be as follows: with the distance between the first and second massage balls reduced, one or more of the first and second massage balls moves forward to support the user's cervical spine from behind.

[0017] According to the embodiment, the first action of this utility model can be the following action: with the first massage ball and the second massage ball supporting the user's cervical spine from the side, the first massage ball and the second massage ball move forward.

[0018] In this case, the control unit of the present invention controls the first massage ball and the second massage ball, which are separated by a reference distance, to move closer to each other so that the first massage ball and the second massage ball support the user's cervical spine from the side.

[0019] In addition, the control unit of this utility model can control the first massage ball and the second massage ball to repeatedly perform forward and backward movements.

[0020] According to an embodiment of the present invention, the massage device may further include: a body drive unit for changing the position or posture of the body massage unit.

[0021] In this case, when the first action is performed, the control unit of the present invention can control the body drive unit so that the reclining action of the body massage unit tilting backward is linked with the first action, thereby so that the user's load is applied to the cervical spine.

[0022] According to one embodiment of the present invention, a massage device may include a shoulder airbag positioned at a location corresponding to the user's shoulder.

[0023] In this case, when the first action is performed, the control unit of the present invention can control the shoulder airbag to inflate in conjunction with the first action, thereby supporting the user's shoulder.

[0024] Furthermore, with the first and second massage balls supporting the user's cervical spine from the side, the control unit of this invention can control the second action of moving the massage module in one or more directions, either up or down.

[0025] Preferably, the control unit of this utility model can control the second action to be repeatedly executed in an alternating up-down direction, or control the first action and the second action to be linked in a time-sequential manner.

[0026] In addition, the control unit of this utility model can adjust the distance between the first massage ball and the second massage ball or control the distance between them according to the vertical position of the massage module so that the degree of forward movement of one or more of the first massage ball and the second massage ball can be changed.

[0027] According to the embodiment, the control unit of this utility model can divide the forward movement of one or more of the first and second massage balls into multiple stages, and the control unit can control the first action to be executed in each of the multiple stages.

[0028] According to one embodiment of the present invention, the massage device may include an arm airbag disposed at a position corresponding to the user's arm. In this case, when the first action is performed, the control unit of the present invention can control the arm airbag to inflate in conjunction with the first action, thereby supporting the user's arm.

[0029] Preferably, the control unit of this invention can be controlled to perform the action of the massage module moving in the up-down direction in the area corresponding to the user's spine before the first action or between multiple executions of the first action.

[0030] In addition, the control unit of this utility model can control the massage module to move up and down in the area corresponding to the user's spine. When the massage module moves upward, the control unit can control the distance between the first massage ball and the second massage ball to alternate between a first distance and a second distance greater than the first distance. When the massage module moves downward, the control unit can control the distance between the first massage ball and the second massage ball to become a distance less than the first distance.

[0031] Furthermore, the control unit of this invention can be controlled to make the massage mode provided when the massage module moves upward different from the massage mode provided when the massage module moves downward.

[0032] Depending on the embodiment, the first massage ball and the second massage ball of this invention can be configured to rotate forward or backward based on the surface portion opposite to the user's body. In this case, the control unit of this invention can control the first massage ball and the second massage ball to perform an oscillating motion of rotating in different directions from each other.

[0033] According to one embodiment of the present invention, the massage device may include a first leg massage section and a second leg massage section that accommodates the user's legs. In this case, the control unit of the present invention can control the extension and retraction of one or more of the first and second leg massage sections before the first action or between multiple executions of the first action.

[0034] Specifically, the massage module of this utility model may include: a module driving unit for driving the operation of the massage module; and a ball driving unit for driving the operation of the first massage ball and the second massage ball.

[0035] The control method of the massage device according to other aspects of this utility model may include control steps for controlling the massage module to perform corrective actions to correct the user's cervical spine.

[0036] Utility Model Effect

[0037] According to one embodiment of the present invention, it can not only effectively relax neck muscles and trapezius muscles, but also correct deformed cervical spine curves and effectively maintain cervical lordosis.

[0038] According to one embodiment of the present invention, by linking with the movement of airbags (such as shoulder airbags), it is possible not only to correct posture, but also to guide the cervical spine curve to form a forward convexity while expanding the chest, thereby further improving the effect of cervical spine correction.

[0039] According to one embodiment of the present invention, not only can the massage function inherent in the massage device be provided, but it can also effectively relax the muscles around the neck and shoulders, and provide a substantial effect on cervical spine correction, thereby further improving the practicality and effectiveness of the massage device.

[0040] According to one embodiment of the present invention, by adaptively controlling the expansion and contraction of the airbag according to the movement of the massage part or massage module, the user's body can be stably supported or the support can be released. This not only makes the effects of cervical spine correction and stretching more concentrated, but also effectively prevents injuries. Attached Figure Description

[0041] The following drawings accompanying this specification are only for illustrating preferred embodiments of the present invention and, together with the detailed description of the present invention below, serve to more effectively help understand the technical concept of the present invention. Therefore, the present invention should not be interpreted solely based on the contents described in these drawings.

[0042] Figure 1 This is a diagram illustrating a massage device according to an embodiment of the present invention.

[0043] Figure 2 This is a diagram illustrating the main frame according to an embodiment of the present invention.

[0044] Figure 3 This is a diagram illustrating a massage device according to an embodiment of the present invention.

[0045] Figure 4 This is a diagram illustrating an external device capable of communicating with a massage device according to an embodiment of the present invention.

[0046] Figure 5 This is a diagram illustrating one embodiment of a massage module including a massage ball.

[0047] Figure 6 This is a block diagram showing the detailed configuration of a massage device according to an embodiment of the present invention.

[0048] Figure 7 This is a block diagram showing the detailed configuration of a massage module according to an embodiment of the present invention.

[0049] Figure 8 This is a flowchart illustrating the overall processing procedure of this utility model.

[0050] Figures 9 to 11 This is a flowchart illustrating the processing procedure of the cervical spine pattern, etc., according to an embodiment of the present invention.

[0051] Figure 12 This is a flowchart illustrating the processing procedure according to other embodiments of the present invention.

[0052] Explanation of reference numerals in the attached figures

[0053] 200: Massage device

[0054] 210: Body Massage Section 220: Body Drive Section

[0055] 230A: First leg massage section; 230B: Second leg massage section

[0056] 240A: First leg drive unit; 240B: Second leg drive unit

[0057] 250: Massage Module

[0058] 251: Module driver unit; 252: Ball driver unit

[0059] 252A: First ball drive unit; 252B: Second ball drive unit

[0060] 253: Massage Service Department

[0061] 254A: First massage ball; 254B: Second massage ball;

[0062] 260: Shoulder airbag 270: Arm airbag

[0063] 290: Control Department Detailed Implementation

[0064] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Prior to this, the terms or words used in this specification and claims should not be construed as limited to their ordinary or dictionary meanings, but should be interpreted based on the principle that the inventors are able to appropriately define the concepts of the terms to best interpret the utility model, and should be interpreted as meanings and concepts consistent with the technical spirit of the present utility model.

[0065] Therefore, it should be understood that the embodiments and configurations shown in the accompanying drawings described in this specification are only one of the most preferred embodiments of this utility model and do not represent all the technical ideas of this utility model. Therefore, various equivalents and modifications that can replace them may exist when this application is filed.

[0066] When a constituent element is referred to as "connected" or "joined" to another constituent element, it can be understood as being directly connected or joined to that other constituent element, but other constituent elements may also exist in between.

[0067] Conversely, when a constituent element is "directly connected" or "directly joined" to another constituent element, it should be understood that there are no other constituent elements between them. Other expressions used to describe the relationships between constituent elements should also be interpreted in accordance with the above.

[0068] The terminology used in this specification is for illustrative purposes only and is not intended to limit the scope of the invention. Unless the context clearly indicates otherwise, singular expressions shall include plural expressions.

[0069] As used in this specification, the terms "comprising" or "having" mean the presence of the implemented features, values, steps, actions, constituent elements, components, or combinations thereof. Therefore, these terms should not be construed as excluding the possibility of the presence or addition of one or more other features, values, steps, actions, constituent elements, components, or combinations thereof.

[0070] Unless otherwise defined, all terms used herein, including technical or scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms generally used and defined in dictionaries shall have the same meaning as they have in the context of the relevant art, and shall not be interpreted in an idealized or overly formal sense unless expressly defined in this specification.

[0071] In this specification, an actuator refers to a component capable of providing driving force. For example, an actuator may include, but is not limited to, a motor, a linear motor, an electric motor, a direct current (DC) motor, an alternating current (AC) motor, a linear actuator, an electric actuator, etc.

[0072] The following is for reference Figures 1 to 5 First, the basic embodiments and driving mechanisms of this utility model will be described in detail. The detailed embodiments of this utility model, such as the cervical spine mode (cervical spine correction mode), will be described later.

[0073] In this specification, according to one embodiment, a massage device may refer to a massage device that includes a body massage section and a leg massage section. Furthermore, according to another embodiment, the body massage section and the leg massage section may exist as separate, individual devices (e.g., a body massage device and a leg massage device), and the massage device may refer to either a body massage device or a leg massage device.

[0074] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement the invention. Furthermore, in the drawings, parts unrelated to the description will be omitted for clarity.

[0075] Figures 1 to 5 This is a diagram illustrating a chair-type massage device as an embodiment of the massage apparatus according to the present invention.

[0076] like Figure 1 As shown, a massage device 1 according to an embodiment of the present invention forms an area for accommodating at least a portion of a user's body, and includes a body massage section 10 for massaging the user's body and a leg massage section 20 for massaging the user's legs.

[0077] The body massage unit 10 can provide massage to at least a part of the user's body. The body massage unit 10 may include: a massage module 100 for providing massage to at least a part of the user's body; an audio output module 12 for providing audio output to the user in any form; and a main frame 40 (see reference). Figure 2 The body massage unit 10 is composed of a frame and an input unit (not shown) for receiving any form of input from the user.

[0078] The configuration of the body massage unit 10 described above is only an exemplary embodiment. In addition to the configuration described above, the body massage unit 10 may also include various other configurations.

[0079] In addition, such as Figure 1 The shape and structure of the massage device 1 shown are merely exemplary. As long as they do not depart from the scope of the claims defined by this utility model, various forms of massage devices 1 also fall within the scope of this utility model.

[0080] The body massage unit 10 can be formed into a space of any shape to accommodate the user. The body massage unit 10 can have a space that corresponds to the shape of the user's body. For example, as... Figure 1 As shown, the body massage unit 10 can be implemented as a seat-like structure capable of accommodating the user's whole body or part of the body.

[0081] The part of the body massage unit 10 that contacts the ground may include any material or component for increasing friction (e.g., an anti-slip mat, etc.), and may include wheels for enhancing the mobility of the massage device 1.

[0082] At least a portion of the body massage unit 10 can slide. For example, when the body massage unit 10 begins to massage, at least a portion of the body massage unit 10 can slide forward. Furthermore, the body massage unit 10 can tilt backward. As a result, the body massage unit 10 can provide massage while tilted backward.

[0083] According to one embodiment of the present invention, the massage device 1 may include at least one airbag (not shown). The airbag may be located in the user's shoulder area, pelvic area, arm massage area, and leg massage area 20, etc., but is not limited thereto, and may be disposed in various parts of the massage device 1.

[0084] The massage device 1 may include an air supply unit that inflates the airbag by supplying air to it. The air supply unit may be located inside the body massage unit 10 or in the leg massage unit 20. Alternatively, the air supply unit may be located outside the massage device 1.

[0085] The leg massage unit 20 can provide leg massage functions to the user. For example, the leg massage unit 20 may include a calf massage module for massaging the user's calves and / or a foot massage module for massaging the user's feet.

[0086] The length of the leg massage section 20 can be adjusted according to the user's body characteristics. For example, when a taller user uses the massage device 1, the length of the leg massage section 20 needs to be longer because the lower leg is longer.

[0087] Furthermore, when shorter users use the massage device 1, the leg massage section 20 needs to be shortened accordingly due to the shorter length of their calves. Therefore, the leg massage section 20 can provide customized leg massage based on the user's height.

[0088] Massage module 100 (reference) Figure 2 The massage module 100 can be disposed inside the body massage unit 10 to provide any form of mechanical stimulation to the user accommodated within the body massage unit 10. The massage module 100 can be disposed along the main frame 40 disposed inside the body massage unit 10 (see reference 40). Figure 2 )move.

[0089] For example, the main frame 40 of the body massage unit 10 may be equipped with a rack gear, along which the massage module 100 can move to provide mechanical stimulation to various parts of the user's body. The massage module 100 may include a ball massage unit or a roller massage unit, but is not limited to these.

[0090] The main frame 40 forms the framework of the internal structure of the body massage part 10, and can be made of materials such as metal or plastic. For example, the main frame 40 can be made of iron, alloy, steel, etc., but is not limited to these, and can also be made of various sturdy materials.

[0091] According to one embodiment of the present invention, the massage device 1 may include an audio output module 12. The audio output module 12 may be disposed in multiple different locations. For example, the audio output module 12 may include multiple output units, such as an upper audio output unit disposed on the upper part of the seat section in contact with the user, a front audio output unit attached to the front end of the left and right arm massage sections of the seat section, and / or a rear audio output unit attached to the rear end of the arm massage sections, etc., but is not limited thereto. In this case, the audio output module 12 can provide a stereo effect such as 5.1 channels, but is not limited thereto.

[0092] According to one embodiment of the present invention, a user can control the massage device 1 using the massage device control device 30. The massage device control device 30 can be connected to the massage device 1 via wired and / or wireless communication.

[0093] The massage device control device 30 may include a remote controller, a cell phone, a personal digital assistant (PDA), etc., but is not limited to these, and may also include a variety of electronic devices that can be connected to the massage device 1 via wired or wireless communication.

[0094] Figure 2 This is a diagram illustrating the main frame according to an embodiment of the present invention.

[0095] According to one embodiment of the present invention, the main frame 40 may include an upper frame 41 provided with a massage module 100 and a base frame 45 supporting the upper frame 41.

[0096] At least a portion of the upper frame 41 may be provided with a rack 42. The rack 42 is a component that enables the massage module 100 to move up and down, and the rack 42 may be arranged opposite to each other on both sides of the upper frame 41. Multiple gear teeth are continuously arranged on the rack 42 along the length of the upper frame 41, and these gear teeth mesh with pinions 112 for module movement arranged on both sides of the massage module 100, thereby providing a movable driving force for the massage module 100. The massage module 100 can move along the rack 42.

[0097] Although Figure 2 The rack 42 is formed along the vertical direction, but is not limited thereto. The rack 42 may include a rack in a front-to-back direction or a rack in a vertical direction. In this invention, the front-to-back direction refers to the direction from the massage module 100 toward the user or from the user toward the massage module 100, which can also be referred to as the Z-axis direction. Furthermore, in this invention, "above" and "below" can refer to the direction guided by the rack 42. That is, "above" and "below" are not necessarily perpendicular to the ground.

[0098] The massage module 100 may include a pinion 112 for module movement that meshes with the rack 42. More specifically, the massage module 100 may include gears that mesh with the rack in the forward-rear direction and the rack in the up-down direction, respectively. The pinion 112 for module movement is rotated by an actuator provided in the module base 110 of the massage module 100, so that the massage module 100 can move forward, backward, up, or down along the rack 42.

[0099] The more the massage module 100 moves forward, the stronger the massage can be. Conversely, the more the massage module 100 moves backward, the weaker the massage can be.

[0100] The rack 42 can be made of metal or plastic. For example, the rack 42 can be made of iron, steel, alloy, reinforced plastic, melamine resin, phenolic resin, etc., but is not limited to these.

[0101] The upper frame 41 can be made into various shapes. For example, depending on the shape, the upper frame 41 can be divided into an S-frame, an L-frame, an S&L-frame, and a double S&L-frame, but it is not limited to these.

[0102] An S-frame refers to a frame in which at least a portion of the upper frame 41 has a bend shape resembling an "S". An L-frame refers to a frame in which at least a portion of the upper frame 41 has a bend shape resembling an "L". An S&L-frame refers to a frame that has both a bend shape resembling an "S" and a bend shape resembling an "L". A double S&L-frame refers to a frame that has a bend shape resembling an "L" and two parts that have bend shapes resembling an "S".

[0103] The base frame 45 refers to the part that supports the upper frame 41 in the main frame 40 and is in contact with the ground.

[0104] The base frame 45 may include an upper base frame 46 and a lower base frame 47. The upper base frame 46 may support the upper frame 41, and the lower base frame 47 may be in contact with the ground. In addition, the upper base frame 46 and the lower base frame 47 may be grounded.

[0105] According to one embodiment of the present invention, the upper frame 46 of the base can move along the lower frame 47 of the base. For example, the upper frame 46 of the base can slide forward or backward along the lower frame 47 of the base. In this case, the upper frame 41 is connected to the upper frame 46 of the base and can move with the movement of the upper frame 46 of the base.

[0106] For example, when the upper frame 46 of the base moves forward, the upper frame 41 can also move forward accordingly; when the upper frame 46 of the base moves backward, the upper frame 41 can also move backward accordingly. This allows the body massage section 10 to slide.

[0107] Specifically, to allow movement of the upper frame 46 of the base, casters can be provided at the lower part of the upper frame 46. Furthermore, guide members for guiding the casters can be provided at the upper part of the lower frame 47 of the base. The casters in the upper frame 46 move along the guide members in the lower frame 47 of the base, thereby allowing the upper frame 46 to move forward or backward.

[0108] According to another embodiment of the present invention, the massage device 1 may not provide a sliding function. In this case, the base frame 45 may not be separated into an upper frame and a lower frame.

[0109] Figure 3 This is a diagram illustrating the configuration of a massage device for controlling an embodiment of the present invention.

[0110] The massage device 1 may include at least one of a control unit 50, a sensor unit 51, a communication unit 52, a memory 53, an audio output unit 54, and an input unit 55. The control unit 50 may include at least one processor and a memory. The at least one processor can execute instructions stored in the memory.

[0111] The control unit 50 can control the massage device 1. The control unit 50 may include one processor or multiple processors. When the control unit 50 includes multiple processors, at least some of the multiple processors may be located at physically separated distances. Furthermore, the massage device 1 can be implemented in various ways, without limitation.

[0112] According to one embodiment of the present invention, the control unit 50 can control the operation of the massage device 1. For example, the massage device 1 may include a plurality of actuators, and the operation of the massage device 1 can be controlled by controlling the operation of the plurality of actuators.

[0113] For example, the massage device 1 may include at least one of the following: a drive unit for moving the armrest frame support, at least one actuator included in the massage module 100, a back angle actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator, and a sliding actuator.

[0114] The back angle actuator is an actuator in the massage device 1 used to adjust the angle of the part in contact with the user's back. By operating the back angle actuator, the angle of the back of the massage device 1 can be adjusted. The leg angle actuator is an actuator used to adjust the angle of the leg massage section 20 of the massage device 1. By operating the leg angle actuator, the angle between the leg massage section 20 and the body massage section 10 can be adjusted. The foot massage actuator is an actuator that causes the foot massage module included in the leg massage section 20 to operate. The massage device 1 can provide foot massage to the user using the foot massage actuator. The leg length adjustment actuator can refer to an actuator used to adjust the length of the leg massage section 20. For example, the control unit 50 can use the leg length adjustment actuator to adjust the length of the leg massage section 20 in a way that matches the user, resulting in the user receiving a massage suitable for their body type.

[0115] The massage module 100 includes at least one actuator, which can be a variety of actuators such as a movement actuator, a forward and backward actuator, and a massage actuator.

[0116] The motion actuator enables the massage module 100 to move up and down, allowing it to move along the main frame 40 in at least one direction—either upward or downward—of the massage device 1. The massage module 100 can move along the rack 42 via the motion actuator. The retraction actuator allows the sample member 150 to retract (or tilt) in at least one direction—either forward or backward—of the massage module 100. In other words, the retraction actuator causes the unit support 130, on which the sample member 150 is mounted, to rotate forward or backward, thereby tilting the sample member 150 in at least one direction—either forward or backward. The massage actuator allows the sample member 150 of the massage module 100 to move in various ways, providing the user with a variety of massage actions.

[0117] The sample component 150, being a component that comes into direct or indirect contact with the user's body, can be shaped like a ball or roller. Therefore, the sample component 150 can also be referred to as a massage ball.

[0118] The control unit 50 can control the operation of the massage device 1 by controlling the detailed configuration of the massage device 1.

[0119] The control unit 50 can provide a variety of massage actions by activating at least one actuator included in the massage device 1. For example, by activating at least one actuator included in the massage module 100, the control unit 50 can provide tapping massage, kneading massage, etc., implemented by the sample member 150, and is not limited to these, and can provide a variety of massage actions.

[0120] The memory 53 may be included in the control unit 50 or located outside the control unit 50. The memory 53 may store various types of information related to the massage device 1. For example, the memory 53 may include massage control information and may include information about the user, but is not limited thereto. The user-related information may be personal authentication information, user biometric information (e.g., age, height, weight, blood pressure, body composition, heart rate, electrocardiogram, etc.), and other user-related information.

[0121] The memory 53 can be implemented using a non-volatile storage medium capable of continuously storing arbitrary data. For example, the memory 53 may include, but is not limited to, magnetic disks, optical disks, and magneto-optical storage devices, as well as storage devices based on flash memory and / or battery-backed storage.

[0122] The memory 53 can be a main memory device directly accessed by the processor, such as a random access memory (RAM) like dynamic random access memory (DRAM) or static random access memory (SRAM), or a volatile memory device whose stored information is instantly deleted when the power is cut off, but it is not limited to these. The memory 53 can be operated by the control unit 50.

[0123] The massage device 1 may include a sensor unit 51. The sensor unit 51 may utilize at least one sensor to acquire various types of information. The sensor unit 51 may be configured as a sensor utilizing measurement methods such as pressure, potential, and optics. For example, the sensor may include a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, an electrode sensor, an air pressure measurement sensor, etc., but is not limited thereto.

[0124] Furthermore, the sensor unit 51 may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire at least one of the following: fingerprint information, facial information, voice information, iris information, weight information, blood pressure information, heart rate (or heartbeat) information, electrocardiogram information, and body composition information, and is not limited to these; it may also include a variety of biometric information. For example, the massage device 1 may provide a customized massage based on the information acquired by the sensor.

[0125] The massage device 1 can sense the contact area and / or contact position with the user through sensors. Furthermore, the massage device 1 can provide customized massage based on the information acquired through the sensors.

[0126] The communication unit 52 can receive signals transmitted from external devices or transmit signals about the massage device 1 to external devices.

[0127] For example, the control unit 50 obtains a result signal by processing the signal received via the communication unit 52, and can transmit the result signal to the communication unit 52. The communication unit 52 can transmit (or output) the result signal to an external device.

[0128] The control unit 50 can acquire information related to various components included in the massage device 1 (e.g., information related to the massage module 100, information related to the arm massage unit, etc.) and transmit it to the communication unit 52. The communication unit 52 can transmit information related to the massage device 1 to external devices.

[0129] The communication unit 52 communicates with modules inside the massage device 1, external massage devices, and / or user terminals via any type of network. The communication unit may include wired / wireless connection modules for network connectivity. Wireless connection technologies may include, for example, Wireless LAN (WLAN) (Wi-Fi), Wireless broadband (Wibro), World Interoperability for Microwave Access (WiMAX), High Speed ​​Downlink Packet Access (HSDPA), etc. Wired connection technologies may include, for example, Digital Subscriber Line (xDSL), Fiber to the Home (FTTH), Power Line Communication (PLC), etc. Furthermore, the network connection unit includes a short-range communication module, enabling the transmission and reception of data with any device / terminal located in close proximity. For example, as a short-range communication technology, Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra-Wideband (UWB), ZigBee, etc., can be used, but are not limited to these.

[0130] The massage device 1 may also include an input unit 55 and / or an output unit. The massage device 1 can receive input from the user via the input unit 55. The massage device 1 can output the processing results of the control unit 50 to the output unit.

[0131] Specifically, the input unit 55 can receive commands related to the motion control of the massage device 1 from the user. The input unit 55 can be implemented in various forms. For example, the input unit 55 can be provided in the body massage unit 10 and the leg massage unit 20, but is not limited thereto. Furthermore, the input unit 55 may include the massage device control device 30 or... Figure 4 The general will explain the various external devices.

[0132] The massage device 1 can receive various commands from the user via the input unit 55. For example, the massage device 1 can receive any command regarding the selection of massage module, massage type, massage intensity, massage time, massage area, position and movement of the body massage unit 10, on / off power supply of the massage device 1, whether to activate the heating function, and audio playback, but is not limited to these.

[0133] The massage device 1 can provide an interface that allows selection of massage modes. For example, the input unit 55 or the output unit may include the massage device control device 30 (see reference). Figure 1 The massage device control device 30 can generate a list of various modes of medical massage related to physical improvement.

[0134] Medical massage modes may include at least one of the following: concentration mode, meditation mode, recovery mode, stretching mode, sleep mode, vitality mode, golf mode, hip shaping mode, exam mode, weightlessness mode, and growth mode.

[0135] According to another embodiment of the present invention, the input unit 55 may be configured with hotkey-type buttons and / or option buttons for selecting, canceling, or inputting execution directions, based on preset user settings or self-preset functions.

[0136] The input unit 55 can be a touchscreen, keyboard, dome switch, touchpad (static / electrostatic), rotary dial, momentary switch, etc., but is not limited to these. Furthermore, the input unit 55 can be based on voice recognition technology to obtain commands through the user's voice.

[0137] The output unit may include a display for showing the operating status of the massage device 1 or the user's current status. In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, and a 3D display, but is not limited thereto.

[0138] The output section may include an audio output section 54. Figure 3 The audio output unit 54 may include Figure 1The audio output module 12. The audio output unit 54 can provide audio output to the user in any form. For example, the audio output unit 54 can provide brain stimulation to the user by outputting the optimal sound source and / or binaural beats for the massage mode provided by the massage device 1. The audio output unit 54 can output sound signals received via a network (not shown) or stored in an internal / external storage medium (not shown). For example, the audio output unit 54 can output sound sources controlled by the user terminal via a network connection (e.g., Bluetooth connection, etc.). In addition, the audio output unit 54 can output sound signals in any form that occur in association with the operation of the massage device 1.

[0139] Those skilled in the art will understand that this invention can be implemented in combination with other program modules and / or by combining hardware and software. For example, this invention can be implemented using a computer-readable medium.

[0140] Computer-accessible media can be any type of computer-readable medium, including volatile and non-volatile media, transient and non-transitory media, and removable and non-removable media. As a non-limiting example, computer-readable media can include computer-readable storage media and computer-readable transmission media.

[0141] Computer-readable storage media include volatile and non-volatile media, temporary and non-temporary media, removable and non-removable media, and media used for storing computer-readable instructions, data structures, program modules, or other data, embodied by some method or technique. Computer-readable storage media include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other storage technologies, read-only optical disc storage (CD-ROM), digital video disk (DVD) or other optical disc storage devices, magnetic tape cassettes, magnetic tape, disk storage devices or other magnetic storage devices, and any other medium that can be accessed by a computer and used to store desired information, but is not limited thereto.

[0142] Figure 4 This is a diagram illustrating an external device that can communicate with the massage device 1 according to an embodiment of the present invention.

[0143] The massage device 1 can communicate with external devices via wired or wireless means, thereby sending / receiving various types of data.

[0144] External devices may include portable electronic devices 61 such as AI speakers, tablets, or smartphones. Portable electronic devices 61 may be dedicated or general-purpose portable electronic devices for the massage device 1. Additionally, external devices may include wearable devices 62 such as smartwatches or smart bracelets. External devices may include massage devices other than the massage device 1 currently used by the user 63. External devices may include a hospital server 64. External devices may include a Personal Health Record (PHR) server. Furthermore, external devices may include a cloud server 65. External devices may include medical measurement devices such as electronic scales, blood glucose meters, or blood pressure monitors.

[0145] Although this invention describes some examples of external devices, it should be understood that all electronic devices capable of acquiring user biometric information can be included in external devices.

[0146] The following is for reference Figures 6 to 12 The following details the specific structure, processing, and functions of the massage device 200 in an embodiment (hereinafter referred to as the "Second Embodiment") that provides cervical spine patterns based on forward and backward movement, up and down movement, rotational movement, and their combinations.

[0147] The massage device 200 described below can of course be combined or selectively applied with one or more of the components included in the massage device 1 described above.

[0148] Furthermore, some terms and / or reference numerals used in the massage device 200 and its sub-components according to the second embodiment described below may differ from those used in the massage device, etc., according to the above embodiments.

[0149] For example, the control unit 290 and body massage unit 210 described in the following second embodiment can correspond to the control unit 50 and body massage unit 10 of the above embodiment, respectively.

[0150] The massage module 250 and massage balls 254A and 254B of the second embodiment are respectively configured to correspond to the massage module 100 and sample component 150 of the above embodiment. The module driving part 251, ball driving part 252 and massage providing part 253 constituting the massage module 250 of the second embodiment can respectively correspond to the movement actuator, forward and backward actuator and massage actuator of the above embodiment.

[0151] Furthermore, the leg massage units 230A and 230B of the second embodiment are configured to correspond to the leg massage unit 20 of the above embodiment, and the leg drive units 240A and 240B of the second embodiment can correspond to the leg angle actuator and / or leg length adjustment actuator of the above embodiment.

[0152] This is because of the necessity of the tool for effectively illustrating the embodiment. Therefore, as long as the corresponding technical idea can be implemented at the level of a person skilled in the art, one or more of the configurations of the embodiments described below should be understood to be the same as or equivalent to one or more of the configurations described above.

[0153] The leg massage unit of this utility model can be composed of a pair of leg massage units 230A and 230B. Therefore, the leg drive unit that drives the rotation, movement, length adjustment, etc. of the leg massage unit can also be composed of a pair of leg drive units 240A and 240B.

[0154] The first leg drive unit 240A is connected to the first leg massage unit 230A and can adjust the length of the first leg massage unit 230A. For example, the first leg drive unit 240A is disposed between one end and the other end of the first leg massage unit 230A, connecting one end and the other end of the first leg massage unit 230A. The first leg drive unit 240A can provide a length adjustment driving force to the first leg massage unit 230A to adjust the length of the first leg massage unit 230A. The second leg drive unit 240B can be the same.

[0155] The first leg drive unit 240A is connected to the first leg massage unit 230A and can adjust the angle of the first leg massage unit 230A. For example, the first leg drive unit 240A is disposed between the rear of the first leg massage unit 230A and the body massage unit 210, and can connect the first leg massage unit 230A and the body massage unit 210. The first leg drive unit 240A can adjust the angle of the first leg massage unit 230A by pushing or pulling the first leg massage unit 230A from the rear, thereby causing the first leg massage unit 230A to rotate (or tilt) in a clockwise and / or counterclockwise direction.

[0156] As described above, although the first leg drive unit 240A is disposed behind the first leg massage unit 230A and between the body massage unit 210 to connect the first leg massage unit 230A and the body massage unit 210, it is not limited thereto.

[0157] For example, the first leg drive unit 240A can be configured in various positions that allow the first leg massage unit 230A to rotate clockwise and / or counterclockwise (e.g., on the side of the first leg massage unit 230A, at the rotation hinge axis of the first leg massage unit 230A, between the first leg massage unit 230A and the main frame of the body massage unit 210, at the rear of the first leg massage unit 230A, etc.). The second leg drive unit 240B can also be configured similarly.

[0158] The terms "upper," "lower," "front," "rear," "vertical," and "horizontal" used in the following description are only used to describe the relative reference of the embodiments of this utility model. Obviously, they are not used for a specific direction or position under an absolute reference, and it is natural that they will change relative to the position of the object, the position or direction of the view.

[0159] The following will refer to the Z-axis direction (refer to...) Figure 2 and Figure 5 The embodiments of this utility model are described using the X-axis as the reference direction for the up-down or vertical direction. In a corresponding viewpoint, the embodiments of this utility model are described using the X-axis as the reference direction for the front-back direction and the Y-axis as the reference direction for the left or right side. For example, the positive direction of the Z-axis corresponds to the upward direction, upper side, above, or a corresponding directionality, and the negative direction of the Z-axis corresponds to the downward direction, lower side, below, or a corresponding directionality.

[0160] Figure 6 This is a block diagram showing the detailed configuration of a massage device 200 according to an embodiment of the present invention. Figure 8 This is a flowchart illustrating the overall processing procedure of this utility model.

[0161] like Figure 6 As shown, the massage device 200 of this utility model may include at least one of the following: body massage unit 210, body drive unit 220, leg massage units 230A and 230B, leg drive units 240A and 240B, massage module 250, arm airbag 270, shoulder airbag 260, and control unit 290.

[0162] Figure 6 This is a block diagram illustrating the massage device 200 of the second embodiment of the present invention. Therefore, according to the embodiment, the massage device 200 of the present invention, in addition to... Figure 6 In addition to the configuration shown, other configurations described in the above embodiments may also be included.

[0163] Figure 6 The components of the massage device 200 shown may be physically distinct, but they may also be functionally or logically distinct.

[0164] That is, each of the constituent elements shown in the above figures is a constituent element for effectively explaining the technical concept of this utility model. Even if each constituent element is integrated or separated, as long as it can realize the function performed by the configuration of this utility model, it should be interpreted as falling within the scope of this utility model. For constituent elements that perform the same or similar functions, regardless of whether their names are the same, they should also be interpreted as falling within the scope of this utility model. Figure 7The massage module 250 shown is the same as above.

[0165] According to the control method of the massage device of this utility model, the whole can be realized by a collection or algorithm of data processing, control, calculation, input / output, etc. Therefore, it can of course be implemented in the form of software driven by the device, computer (or similar device), module or its sub-components.

[0166] A first leg massage unit 230A, which is part of the massage device 200 according to the present invention, can be disposed at the lower part of a body massage unit 210 that massages at least a part of the user's body.

[0167] The first leg massage unit 230A can accommodate one side of the user's leg (e.g., the left leg) and is configured to perform various types and methods of massage actions on the accommodated leg.

[0168] A second leg massage unit 230B, which accommodates the user's other leg (e.g., the right leg) and performs various types and methods of massage on the accommodated leg, may also be configured below the body massage unit 210 and substantially aligned with the first leg massage unit 230A to conform to the human body structure.

[0169] The first leg drive unit 240A of this utility model can be configured to perform the function of rotating, moving, or stretching (extending and contracting) the first leg massage unit 230A in two or more directions based on the user input signal, the internal algorithm for judging whether preset conditions are met, or the specifications and functions of the first leg massage unit 230A.

[0170] That is, the first leg massage unit 230A can be adjusted in length forward or backward via the first leg drive unit 240A, and can be configured to rotate in more than two directions. The functions, actions, and controls of the second leg drive unit 240B can correspond to those of the first leg drive unit 240A, therefore the contents of the first leg drive unit 240A described above can also be applied to the second leg drive unit 240B.

[0171] The body drive unit 220 of this utility model 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 such as judging whether preset conditions are met, or the specifications and functions of the body massage unit 210.

[0172] Depending on the implementation, the body drive unit 220 can change the position, posture, etc. of the body massage unit 210 by tilting the body massage unit 210 forward, so as to provide ease and safety for the user when leaving the massage device 200.

[0173] As described above, it is natural that the body drive unit 220 of this invention can be designed to allow the body massage unit 210 to slide forward or backward and be controlled by the control unit 290 of this invention.

[0174] In order to provide users with a more comfortable posture, or to ensure sufficient space for movement, rotation, etc. of the leg massage units 230A, 230B, etc., and to prevent safety accidents, the body drive unit 220 can change the position and posture of the body massage unit 210 by tilting the body massage unit 210 backward (recline mode).

[0175] The control unit 290 of this invention can control the backward tilting motion of the body massage unit 210 in conjunction with the motion of the massage module 250 for the cervical spine mode. With this structure, the user's load can be directed towards the cervical spine area, thereby further concentrating and enhancing the effect of the cervical spine mode (cervical spine correction mode).

[0176] The massage module 250 of this invention, which provides users with any form of mechanical stimulation, moves vertically within the body massage unit 210 and may include a ball massage unit or a roller massage unit, etc. As described above, the massage module 250 of this invention can be configured along the main frame 40 (see reference) disposed inside the body massage unit 210. Figure 2 (Movement). Detailed information regarding the specific structure and functions of the massage module 250 will be provided later.

[0177] In the following description, the term "mode" is a tool-like concept used to improve the efficiency of explanation and understanding. It may be a term used to distinguish between the various actions (or series of actions) provided to the user by the massage device 200 of this invention through the control of the control unit 290, which is a component of the massage device 200, and other actions (or series of actions).

[0178] When a user inputs a start signal for a cervical spine mode or the set conditions for starting a cervical spine mode are met (step S100), the control unit 290 of this utility model can control the massage device 200 in a pre-mode that performs low-intensity massage on the arms, legs, body, neck, spine, etc., to relieve tension, relax muscles, expand range of motion, gain stability, and enhance joint flexibility before starting a cervical spine mode (step S110).

[0179] When in preparatory mode, the massage device 200 can change from a basic posture (standby posture) to a reclining posture that is tilted backward.

[0180] In the preparatory mode, massage or acupressure stimulation massage can be performed, primarily targeting the erector spinae muscles from the cervical spine to the coccyx. Additionally, in this mode, massage can be performed sequentially or in any manner using airbags to target the shoulders, arms, and calves, or roller massage can be performed on areas such as the soles of the feet.

[0181] When the preparatory action mode ends, the control unit 290 of this utility model can control the massage module 250 to perform corrective actions (cervical spine mode) to correct the user's cervical spine (step S120). Detailed descriptions of the cervical spine mode and other aspects according to embodiments of this utility model will follow.

[0182] To improve user convenience and predictability, the control unit 290 of this invention can be controlled by displaying corresponding prompt information when the preparatory action mode ends.

[0183] Depending on the implementation, when the number of times the cervical spine mode (cervical spine correction mode) is executed reaches a reference number or when the user inputs a stop signal (step S130), the control unit 290 of this utility model can control the massage device 200 to execute the post-mode, which terminates the cervical spine mode and provides a low-intensity massage or causes the leg massage units 230A and 230B to move or rotate slightly (at a small angle, within a small range of movement, etc.) in the up-down or back-and-forth direction (step S140).

[0184] For example, in the finishing motion mode, it can provide acupressure stimulation massage based on massage modules, mainly targeting the erector spinae muscles from the cervical spine to the coccyx, or airbag massage with multiple airbags expanding and / or contracting sequentially or arbitrarily based on the upper and lower parts of the body, as well as foot roller massage.

[0185] In addition, in the finishing action mode, the control unit 290 of this utility model can control the posture of the massage device 200 to return to or switch to the standby posture or the basic posture (default posture) from the reclining posture.

[0186] The massage device 200 of this utility model may include an arm airbag 270 disposed in the arm massage part, a shoulder airbag 260 disposed at a position corresponding to the user's shoulder, and one or more leg airbags disposed in the leg massage parts 230A and 230B.

[0187] The control unit 290 can activate one or more of the aforementioned airbags during the execution of at least one of the preparatory action mode, cervical spine mode, and closing action mode, in order to further enhance or concentrate the effect of cervical spine correction or prevent safety accidents or injuries.

[0188] Figure 7This is a block diagram showing the detailed configuration of a massage module 250 according to an embodiment of the present invention. Figure 9 This is a flowchart illustrating the processing procedure of a cervical spine pattern, etc., according to an embodiment of the present invention.

[0189] like Figure 7 As shown, the massage module 250 of this utility model can be configured to include one or more of the following: module driving unit 251, ball driving unit 252, massage providing unit 253, first massage ball 254A, and second massage ball 254B.

[0190] The module drive unit 251 can be configured to drive the operation of the massage module 250, and the ball drive unit 252 can be configured to drive the operation of the first massage ball 254A and the second massage ball 254B. For example, as shown in the figure, in order to achieve independent driving of the first massage ball 254A and the second massage ball 254B, the ball drive unit 252 may include: a first ball drive unit 252A, which moves the first massage ball 254A in one or more directions (front-back, left-right) by adjusting the position, posture, and direction of the first massage ball 254A; and a second ball drive unit 252B, which moves the second massage ball 254B in one or more directions (front-back, left-right) by adjusting the position, posture, and direction of the second massage ball 254B.

[0191] The first massage ball 254A and the second massage ball 254B can correspond to the sample component 150 described in the above embodiments, such as... Figure 5 As shown, the first massage ball 254A and the second massage ball 254B can be arranged spaced D apart from each other in the left-right direction (based on the Y-axis direction). When the first massage ball 254A is, for example... Figure 5 When the sample member 150 on the left is shown, the second massage ball 254B can be the sample member 150 on the right.

[0192] like Figure 5 As shown, the first massage ball 254A can rotate clockwise (based on the YZ plane) or counterclockwise (based on the YZ plane) by the drive of the first ball drive unit 252A, and the second massage ball 254B can rotate clockwise (based on the YZ plane) or counterclockwise (based on the YZ plane) by the drive of the second ball drive unit 252B. Through this rotation, the first massage ball 254A and the second massage ball 254B can rotate in directions that are close to or far from each other.

[0193] The control unit 290 of this utility model can control the execution of one or more massage balls, namely the first massage ball 254A and the second massage ball 254B, to move forward (based on the X-axis direction) (hereinafter referred to as "first action"), thereby traction on the user's cervical spine (step S230).

[0194] In order to provide traction or support for the user's cervical spine from behind, the control unit 290 of this invention can control one or more of the first ball drive unit 252A and the second ball drive unit 252B to make the distance between the first massage ball 254A and the second massage ball 254B, whose left and right distances are adjustable, become a first reference distance or less (steps S210 and S220).

[0195] Therefore, the forward movement (first movement) of one or more of the first massage ball 254A and the second massage ball 254B can be the following: with the gap between the first massage ball 254A and the second massage ball 254B reduced, one or more of the first massage ball 254A and the second massage ball 254B moves forward to support the user's cervical spine from behind.

[0196] In order to effectively support the user's cervical spine from behind, the first reference spacing can be set to a value smaller than the left and right width (thickness, etc.) of the cervical spine.

[0197] However, if the value of the first reference spacing is set too small, it will only physically support the extremely narrow area of ​​the cervical spine, which will put a burden on the cervical spine and may cause safety problems such as the cervical spine moving out of the support range of the first massage ball 254A and the second massage ball 254B during the movement of the first massage ball 254A and the second massage ball 254B. Therefore, it is preferable to set it to an appropriate size so as to stably support or traction the back of the cervical spine.

[0198] The first reference spacing can be set to a general value, but it is preferably set variably based on stored user body information or body information measured by sensors, etc., to provide the user with the best cervical spine pattern.

[0199] When the first action is performed, the control unit 290 of this utility model can control the first ball drive unit 252A and the second ball drive unit 252B so that the first massage ball 254A moves forward to the same extent as the second massage ball 254B moves forward to the same extent.

[0200] Depending on the embodiment, when the control unit 290 performs the first action, it can control the movement of the first massage ball 254A and the second massage ball 254B to be different from each other. Using this embodiment, the degree of traction or support for different parts of the cervical spine can be differentiated by considering factors such as the directionality of cervical spine curvature deformation, thereby achieving a customized cervical spine mode for the user or their symptoms.

[0201] In order to reduce the physical burden on the cervical spine and enhance the corrective effect of the cervical spine, the control unit 290 of this utility model can control the first massage ball 254A and the second massage ball 254B that are moving forward to move backward (step S240), so that the first massage ball 254A and the second massage ball 254B repeatedly move forward and backward.

[0202] For example, as long as the number of times the first massage ball 254A and the second massage ball 254B move forward and backward does not reach the reference number or no stop signal input by the user is received (step S250), the control unit 290 of this utility model can control the repeated execution of steps S230 and S240.

[0203] When one or more sensors installed in the massage device 200 detect an emergency event such as the body being clamped, physical contact, collision or interference with an external object (object, person, wall, animal, etc.), or a load sensing value exceeding a reference value, the control unit 290 of this utility model can automatically stop the ongoing cervical spine mode in accordance with the received stop signal (step S250).

[0204] As explained above, and as... Figure 9 As shown, the control unit 290 of this utility model can control the body massage unit 210, so that the reclining motion of the body massage unit 210 tilting backward is linked to the first motion (step S200). Figure 9 As shown, the reclining movement can be performed either before or during the execution of the first movement.

[0205] As described above, when the first movement is linked to the reclining movement of the body massage unit 210, the user's load will be applied to the cervical spine. Therefore, the traction force applied to the cervical spine will be enhanced. Even when the first movement is performed, any swaying or tilting of the cervical spine can be suppressed, thus further improving the effect of cervical spine correction.

[0206] Since the greater the degree of backward tilt, the greater the load on the cervical spine, the control unit 290 of this invention is preferably configured to variably adjust the degree of backward tilt of the body massage unit 210 based on the degree of pain in the cervical spine, the degree of deformation of the cervical spine, or the user's selection.

[0207] In order to make the cervical spine mode and other modes most suitable for the user, the angle of the body massage unit 210 tilting backward is preferably set automatically using the physical specifications of the massage device 200 and other devices, user information that can be databased (DB), user body information, user symptom information or measured user body information, or can be variably set by using the user body information input by the interface device (the input unit 55 mentioned above).

[0208] The aforementioned first reference distance and quantitative information on the forward movement of the first massage ball 254A and the second massage ball 254B during the execution of the first action can also be set by corresponding methods.

[0209] As described above, the first action refers to the forward movement of one or more of the first massage ball 254A and the second massage ball 254B. However, the direction of movement of one or more of the first massage ball 254A and the second massage ball 254B is relative. If the body massage unit 210 is in a reclining and backward-tilted state, the direction of execution of the first action may still be forward from the user's relative perspective, but when taking the massage device 200 as a whole as a reference, the direction of execution of the first action may be upward. In view of this, depending on the tilt of the body massage unit 210, the direction of execution of the first action may be a diagonal direction between forward and upward.

[0210] In the description of this utility model, "multiple actions in tandem" includes: multiple actions being executed together with almost no time difference; using the drive of one action as a trigger to trigger another action to be executed concurrently, etc.

[0211] The technical idea of ​​this utility model is to achieve a better or new effect by organically executing multiple actions. Therefore, "multiple actions in tandem" should not be interpreted as multiple actions having temporal simultaneity.

[0212] Therefore, even if the following situations exist: one action is executed before other actions; or the execution time of one action is longer or shorter than the execution time of other actions within a suitable range; or the execution times of multiple actions have partially overlapping intervals, if the multiple actions are in a relationship that can be executed organically, it should be interpreted as belonging to the linkage of multiple actions as defined in this utility model.

[0213] Therefore, sequential actions, time-series actions, and multiple actions achieved through a third action can also be considered as linkage of multiple actions as defined in this utility model.

[0214] Furthermore, the objects of linkage can be multiple actions or processes (rotation, movement, length adjustment, position change, etc.), and individuals performing actions such as multiple massage parts (leg massage parts, massage modules, body massage parts, etc.) can also be objects of linkage.

[0215] In order to further enhance the effect of the cervical spine mode on cervical spine correction, the control unit 290 of this utility model can inflate the shoulder airbag 260 in a manner that is linked with the first action when the first action is performed, so as to provide physical support for the user's shoulder (step S235).

[0216] When the first massage ball 254A and the second massage ball 254B apply traction to the cervical spine, the user will react by taking action to avoid pain caused by the pressure applied to the cervical spine and / or the cervical spine, as part of the upper body, will be subjected to a forward traction force, causing the user's upper body to move in the direction corresponding to the direction of movement of the first massage ball 254A and the second massage ball 254B.

[0217] As described above, when the user's upper body moves forward along with the first massage ball 254A and the second massage ball 254B, the cervical traction force will be dispersed or weakened, which will reduce the effect of cervical spine correction.

[0218] As described above, when the control unit 290 of the utility model controls the shoulder airbag 260 to inflate in conjunction with the first action, the user's shoulder will be physically supported by the shoulder airbag 260, thus limiting or inhibiting the user's upper body or chest from moving forward due to the first action.

[0219] As described above, when the forward movement of the upper body is inhibited or restricted, the traction provided by the first massage ball 254A and the second massage ball 254B that move forward will not be dispersed or weakened, but can be concentrated on the cervical spine, thereby further improving the effect of cervical spine correction.

[0220] Depending on the implementation, the automation settings, or the user's selection, the control unit 290 of this utility model can control the inflation of only one shoulder airbag 260 of the two shoulder airbags 260, or it can control the two shoulder airbags 260 to inflate to different degrees.

[0221] With the structure described above, the user's body can be guided to naturally tilt or eccentrically to one side, thereby extending the traction or support of the cervical spine to the posterior side of the neck (posterior left or posterior right side), or the traction or support of the cervical spine can be changed.

[0222] The control unit 290 of this utility model can also control an airbag located at a position corresponding to the user's buttocks or thighs to perform the differentiated expansion or differentiated contraction as described above, and in this case, the effect corresponding to the above effect can also be achieved.

[0223] In a corresponding viewpoint, in order to enhance the upper body fixation effect, the control unit 290 of this utility model can inflate the arm airbag 27 located at the position corresponding to the user's arm in a manner linked to the first action when performing the first action, thereby providing physical support for the user's arm (step S235).

[0224] To reduce the physical burden on the body and enhance the effectiveness of the cervical spine pattern of repeatedly applying and releasing traction, such as Figure 9 As shown, the control unit 290 of this utility model can be controlled to contract the inflated shoulder airbag 260 and / or arm airbag 270 when the first massage ball 254A and the second massage ball 254B, which are moving forward, move backward (step S245).

[0225] When the airbag inflates, it suppresses gaps and other mechanisms, which can guide the body parts in contact with the airbag to be firmly supported. When the airbag contracts, the support is released, which can relatively increase the degree of freedom of the body parts.

[0226] In order to achieve cervical traction and cervical correction through three-dimensional motion, the control unit 290 of this utility model can control the degree of forward movement of one or more massage balls, the first massage ball 254A and the second massage ball 254B, to change sequentially or periodically.

[0227] Specifically, the control unit 290 of this utility model divides the forward movement of one or more massage balls, namely the first massage ball 254A and the second massage ball 254B, into multiple stages, and controls the execution of a first action in each of the multiple stages.

[0228] For example, based on the degree to which the first massage ball 254A and the second massage ball 254B move forward, the system is divided into an upper stage, a middle stage, and a lower stage, and a cyclical control method is adopted from the upper stage to the middle stage to the lower stage. Depending on the implementation, control can also be implemented to insert an intermission between each stage or after completing a cycle.

[0229] The control unit 290 of this invention can control the module drive unit 251 in conjunction with the first action, so as to move the massage module 250 in the vertical direction. The first massage ball 254A and the second massage ball 254B are included in the massage module 250, so when the massage module 250 moves in the vertical direction, the first massage ball 254A and the second massage ball 254B also move physically together.

[0230] In connection with the first action, the area or range in which the massage module 250 moves in the vertical direction is preferably configured in a manner corresponding to the length direction (vertical direction) of the cervical spine, thereby performing overall support or traction on the cervical spine.

[0231] In the configuration described above, the cervical spine supported or pulled by the first massage ball 254A and the second massage ball 254B is not limited to a local area or a specific point, but can guide the support or pull of the entire cervical spine, and can naturally provide mechanical stimulation (massage, etc.) generated by the up-and-down movement of the first massage ball 254A and the second massage ball 254B.

[0232] The up-down movement of the massage module 250 can not only be sequential with the first action, but also linked with the first action to achieve physical support and traction for the cervical spine in a three-dimensional form such as a wave.

[0233] When the control unit 290 of this utility model performs the first action, it can adjust the distance between the first massage ball 254A and the second massage ball 254B according to the vertical position of the massage module 250.

[0234] The upper trapezius muscle and other muscles in the shoulder are located in the lower part of the cervical spine. Therefore, if the distance between the first massage ball 254A and the second massage ball 254B is widened when the massage module 250 descends downwards, and the distance between the first massage ball 254A and the second massage ball 254B is relatively narrowed when the massage module 250 rises upwards, then the upper trapezius muscle connected to the cervical spine can be physically stimulated simultaneously, thereby improving the effectiveness of the cervical spine pattern.

[0235] Reference Figure 5 As described above, the first massage ball 254A and the second massage ball 254B can rotate clockwise (based on the YZ plane) or counterclockwise (based on the YZ plane). The plane in which the first massage ball 254A and the second massage ball 254B rotate (based on the YZ plane) can be a surface portion opposite to the back of the user's body. In other words, the first massage ball 254A and the second massage ball 254B can be configured to rotate clockwise or counterclockwise based on a surface portion opposite to the user's body.

[0236] The control unit 290 of this invention can control the rotation of the first massage ball 254A and the second massage ball 254B, so as to effectively provide massage to the cervical spine while performing cervical traction and the like.

[0237] For example, the control unit 290 of this invention can control the first massage ball 254A and the second massage ball 254B to perform a rotational motion in opposite directions (hereinafter referred to as "swinging motion"). The control unit 290 of this invention can not only control the swinging motion to be linked with the first motion described above, but also control it to be linked with other motions described later.

[0238] When performing the first action, the control unit 290 of this utility model can provide various massage actions, including tapping massage, kneading massage, vibration massage, etc., by controlling the massage providing unit 253.

[0239] As mentioned above, in order to improve the effectiveness of cervical spine correction, etc. Figure 9 The cervical spine mode shown in an embodiment of the present invention can be linked with the reclining motion of the body massage unit 210 tilting backward (step S200).

[0240] The control unit 290 of this utility model can control one or more of the first leg drive unit 240A and the second leg drive unit 240B to perform an action that extends or retracts the length of one or more of the first leg massage unit 230A and the second leg massage unit 230B before the first action described above or between multiple executions of the first action.

[0241] With the structure described above, one or more of the first leg massage unit 230A and the second leg massage unit 230B can be guided to expand or contract while the cervical spine or upper body is supported, thereby enhancing the stretching effect on the lower limbs.

[0242] Figure 10 This is a flowchart illustrating the processing procedure of cervical spine patterns, etc., according to other embodiments of the present invention.

[0243] The above text refers to Figure 9 The embodiment of the present invention described herein is an embodiment that achieves a cervical spine mode by using a first massage ball 254A and a second massage ball 254B to pull or support the cervical spine from behind.

[0244] The following is for reference Figure 10 The embodiments of this utility model described herein are referenced above. Figure 9The illustrated embodiment implements a cervical spine mode by supporting the cervical spine laterally and applying traction by using a first and a second massage ball to wrap around the sides of the cervical spine. For the sake of distinction between embodiments, reference will be made to... Figure 10 The cervical spine pattern described is called the second cervical spine pattern.

[0245] exist Figure 10 In the illustrated embodiment, the first action described above (the action of the first massage ball 254A and the second massage ball 254B moving forward) can be the action of the first massage ball 254A and the second massage ball 254B moving forward while supporting the user's cervical spine from the side.

[0246] The control unit 290 of this utility model can be controlled to move one or more of the first massage ball 254A and the second massage ball 254B in a direction that approaches each other (left-right direction) when the first massage ball 254A and the second massage ball 254B are separated or opened at a reference distance, so that the first massage ball 254A and the second massage ball 254B can provide stable lateral support to the cervical spine without interfering with or colliding with the user's body parts.

[0247] In other words, the control unit 290 can control the first massage ball 254A and the second massage ball 254B, which are separated by a reference distance, to move closer to each other, so that the first massage ball 254A and the second massage ball 254B support the user's cervical spine from the side.

[0248] like Figure 10 As shown, the control unit 290 of this utility model can control one or more of the first ball drive unit 252A and the second ball drive unit 252B so that the left and right distance between the first massage ball 254A and the second massage ball 254B is greater than or equal to the second reference distance (step S310).

[0249] The second reference spacing is preferably set to a size that can create sufficient free space relative to the thickness (width, etc.) of the user's cervical spine, so as to avoid interference and other situations.

[0250] When the gap between the first massage ball 254A and the second massage ball 254B is opened to the second reference gap, the control unit 290 of this utility model controls one or more of the first ball drive unit 252A and the second ball drive unit 252B to reduce the gap between the first massage ball 254A and the second massage ball 254B to the third reference gap (steps S320 and S330).

[0251] The third reference spacing is a spacing corresponding to the thickness (width, etc.) of the user's cervical spine. When the first massage ball 254A and the second massage ball 254B are opened above the second reference spacing and approach the third reference spacing, the first massage ball 254A and the second massage ball 254B provide lateral support to the user's cervical spine.

[0252] As described above regarding the first reference spacing, the third reference spacing is also preferably configured to be variably set based on stored user body information or body information measured by sensors, etc. The third reference spacing can be set to provide adequate margin space while effectively supporting the lateral aspect of the cervical spine to avoid pain or discomfort.

[0253] The control unit 290 of this utility model can control the reduction of the distance between the first massage ball 254A and the second massage ball 254B by moving a portion of the first massage ball 254A and the second massage ball 254B or by setting different displacements of each massage ball.

[0254] Relatedly, in order to provide more stable lateral support to the cervical spine by taking into account the user's posture and the position of the cervical spine, the control unit 290 of this utility model can control the first ball drive unit 252A and the second ball drive unit 252B so that the first massage ball 254A and the second massage ball 254B move toward each other at the same speed and displacement, thereby reducing the distance between the first massage ball 254A and the second massage ball 254B.

[0255] With the first massage ball 254A and the second massage ball 254B supporting the user's cervical spine from the side, the control unit 290 of this utility model can control one or more of the first massage ball 254A and the second massage ball 254B to move forward (step S340).

[0256] In this configuration, the first massage ball 254A and the second massage ball 254B can each advance forward to the same degree or size. According to an embodiment, the control unit 290 of this invention can control the first massage ball 254A and the second massage ball 254B to advance forward at different degrees to simultaneously induce a torsional movement in the cervical spine. In this case, control can be performed to alternately advance the massage balls according to the cycle of executing the cervical spine pattern.

[0257] If step S340 is executed, such as Figure 9 As described in step S235, it is reasonable to assume that the inflating actions of the shoulder airbag 260 and / or the arm airbag 270 can be coordinated.

[0258] For reference Figure 9In order to reduce the physical burden on the cervical spine and enhance the corrective effect of the cervical spine, the control unit 290 of this utility model can control the first massage ball 254A and the second massage ball 254B that are moving forward to move backward (step S350), so that the forward and backward movement of the first massage ball 254A and the second massage ball 254B is repeated.

[0259] As described above, for example, as long as the number of times the first massage ball 254A and the second massage ball 254B move forward and backward does not reach the reference number or a stop signal input by the user is not received (step S360), the control unit 290 can control the repeated execution of steps S340 and S350.

[0260] Although not illustrated, as described above, in the second cervical spine mode, the body massage unit 210 can also be linked or coordinated with the backward tilting motion to ensure that the user's load is applied to the cervical spine area.

[0261] Figure 11 This is a flowchart illustrating the processing procedure of a cervical spine pattern, etc., according to yet another embodiment of the present invention.

[0262] For reference Figure 10 As described in steps S310 to S330, the control unit 290 of this utility model can control the first massage ball 254A and the second massage ball 254B of the massage module 250 to support the user's cervical spine from the side (steps S410 to S430).

[0263] Subsequently, with the first massage ball 254A and the second massage ball 254B supporting the user's cervical spine from the side, the control unit 290 of this utility model controls the module drive unit 251 to perform an action that moves the massage module 250 in one or more directions (e.g., the up direction or the down direction) (hereinafter referred to as the "second action") (step S440).

[0264] The control unit 290 of this invention can control the direction of the second action (i.e., the direction of the massage module 250 moving in the up-down direction) alternately (step S450). As described above, the up-down movement can be controlled to be executed cyclically until the number of times the second action is executed reaches a reference number or other conditions that meet the termination condition (step S460).

[0265] In other words, with the first massage ball 254A and the second massage ball 254B supporting the user's cervical spine from the side, the control unit 290 can control the execution of a second action, in which the upward movement of the massage module 250 and the downward movement of the massage module 250 are alternately and repeatedly executed.

[0266] As described above, when the massage module 250 moves up or down in the body massage unit 210, the first massage ball 254A and the second massage ball 254B also move up or down. Since the user's cervical spine is physically supported by the first massage ball 254A and the second massage ball 254B, the movement of the first massage ball 254A and the second massage ball 254B in the up-down direction can guide the user's cervical spine to achieve upward traction or downward relief or release of cervical spine traction.

[0267] When the first action described above is a traction pattern of the cervical spine based on the front-back direction (horizontal direction) to correct the cervical spine, the second action described above can be a traction pattern of the cervical spine based on the up-down direction (vertical direction) to correct the cervical spine.

[0268] As described above, when the first massage ball 254A and the second massage ball 254B move upward while supporting the cervical spine on the side, they can provide traction force to stretch the stiff cervical spine upward, thereby not only improving or relieving cervical pain, but also correcting deformed cervical curves.

[0269] The control unit 290 of this invention can control the first action and the second action to be executed sequentially in a time-sequential manner, or to be executed in combination. With the structure described above, by organically combining horizontal (front-back) and vertical (up-down) cervical spine correction, the directionality of cervical spine correction can be three-dimensionally constructed, thereby further enhancing the effects of correcting deformed cervical spine curves and improving cervical spine symptoms.

[0270] Figure 12 This is a flowchart illustrating the processing procedure of the additional mode according to an embodiment of the present utility model.

[0271] The control unit 290 of this utility model can control the module drive unit 251 to perform an action (hereinafter referred to as "third action") that moves the massage module 250 in the up-down direction based on the area corresponding to the user's spine (or within the area corresponding to the user's spine) (step S510).

[0272] The third action described below is an action or mode that moves the massage module 250 (i.e., the first massage ball 254A and the second massage ball 254B) up and down along the spinal curve while massaging the erector spinae muscles and providing a relaxation effect throughout the entire spinal range. It can not only be executed independently, but can also be configured to achieve a synergistic effect of spinal correction and spinal massage by being executed in conjunction with one or more of the first and second actions described above.

[0273] For example, the control unit 290 of this utility model can control the third action to be executed before the first action or between multiple executions of the first action. Depending on the embodiment, the control unit 290 of this utility model can control the third action to be executed before the second action or between multiple executions of the second action.

[0274] In addition, as mentioned above, when the first action and the second action are sequential or linked, the third action can also be executed as an action in a sequential loop sequence, for example, from the first action to the third action to the second action to the third action to the first action.

[0275] The control unit 290 of this utility model controls the module drive unit 251 to make the massage module 250 move up or down in the area corresponding to the user's spine. When the massage module 250 moves up (step S520), the distance between the first massage ball 254A and the second massage ball 254B can be controlled to alternate between a first distance and a second distance greater than the first distance (step S530).

[0276] In addition, when the massage module 250 moves downward (step S520), the control unit 290 of this utility model can control the distance between the first massage ball 254A and the second massage ball 254B to become a third distance that is smaller than the first distance (step S535).

[0277] It is reasonable that the above process can be executed repeatedly when the preset termination conditions (such as forced termination, system crash, emergency event, etc.) are not met (step S5400).

[0278] The first, second, and third spacings are spacings that can be set according to various benchmarks. As mentioned above, when the relative difference between these spacings is used as a benchmark, the second spacing is the maximum spacing (Max), and the third spacing is the minimum spacing (Min). The first spacing is an intermediate spacing (Middle) that is smaller than the second spacing and larger than the third spacing.

[0279] As described above, when the movement direction of the massage module 250 causes a difference in the spacing between the first massage ball 254A and the second massage ball 254B, it can basically provide mechanical stimulation or massage corresponding to the distribution and size of muscles in the cervical spine, shoulder, and waist areas. When the massage module 250 descends, by adjusting the spacing between the first massage ball 254A and the second massage ball 254B to a relatively minimum, a relaxation effect can be provided while massaging the erector spinae muscles along the cervical spine curve.

[0280] In addition, the control unit 290 of this utility model can control the massage mode provided when the massage module 250 moves upward to be different from the massage mode provided when the massage module 250 moves downward.

[0281] For example, when the massage module 250 moves upward, it can perform one or more of the following massages: kneading massage, patting massage, vibration massage, and massage using the aforementioned oscillating motion. When the massage module 250 moves downward, it can perform a massage different from the massage provided when the massage module 250 moves upward.

[0282] When the implementation structure of this utility model is adopted, different massages can be provided according to the movement direction of the massage module 250. Therefore, it can effectively avoid the phenomenon of excessive stimulation or continuous muscle tension caused by continuously performing the same type of massage. Furthermore, by appropriately adjusting the tension and relaxation of the muscles, the overall massage effect on the spine can be improved.

[0283] Although the present invention has been described above with reference to limited embodiments and accompanying drawings, the present invention is not limited thereto. Of course, those skilled in the art can make various modifications and variations within the scope of the technical concept of the present invention and the equivalent of the appended claims.

[0284] In the above description of this utility model, terms such as "first" and "second" are merely instrumental conceptual terms used to relatively distinguish the constituent elements, and therefore should be understood as not being terms used to indicate a specific order, priority, etc.

[0285] In describing this utility model and illustrating its embodiments, the drawings and other materials may be shown in a slightly exaggerated manner to emphasize or highlight the technical content of this utility model. However, in view of the above content and the matters shown in the drawings, it should be understood that various types of modifications and application examples can obviously be made at the level of those skilled in the art.

[0286] The control method of the massage device of this utility model described above can be implemented in the form of computer-readable code in a computer-readable recording medium. The computer-readable recording medium includes all recording devices capable of storing data that can be read by a computer (e.g., optical discs, random access memory, read-only memory, floppy disks, magnetic disks, hard disks, optical discs, etc.), and also includes servers for wired or wireless internet transmission.

[0287] Furthermore, the structure and function of the massage device described in this manual can be extended and applied to various (wearable) health care devices that provide health care functions (e.g., massage function, biosignal measurement function, etc.). Therefore, the term "massage device" in this manual can be replaced with "(wearable) health care device" for further explanation.

Claims

1. A massage device, characterized in that, include: A body massage area that massages at least a part of the user's body; The massage module moves vertically within the body massage section and provides massage to the user. as well as The control unit controls the massage module to perform corrective movements to correct the user's cervical spine.

2. The massage device according to claim 1, characterized in that, The massage module includes: The first massage ball and the second massage ball are arranged apart from each other in the left-right direction and can move in more than one of the front-back, left-right, and right directions respectively; The control unit controls the movement of one or more of the first and second massage balls forward to provide traction to the user's cervical spine.

3. The massage device according to claim 2, characterized in that, The lateral distance between the first massage ball and the second massage ball can be adjusted. The first action is as follows: With the gap between the first massage ball and the second massage ball reduced, one or more of the first and second massage balls are moved forward to support the user's cervical spine from behind.

4. The massage device according to claim 2, characterized in that, The lateral distance between the first massage ball and the second massage ball can be adjusted. The first action is as follows: With the first and second massage balls supporting the user's cervical spine from the side, the first and second massage balls move forward.

5. The massage device according to claim 4, characterized in that, The control unit controls the first massage ball and the second massage ball, which are separated by a reference distance, to move closer to each other so that the first massage ball and the second massage ball support the user's cervical spine from the side.

6. The massage device according to claim 3 or claim 4, characterized in that, The control unit controls the first massage ball and the second massage ball to repeatedly perform forward and backward movements.

7. The massage device according to claim 2, characterized in that, Also includes: The body drive unit changes the position or posture of the body massage unit; When the first action is performed, the control unit controls the body drive unit so that the body massage unit tilts backward in a reclining motion in conjunction with the first action, thereby applying the load to the cervical spine area.

8. The massage device according to claim 2, characterized in that, Also includes: Shoulder airbags are positioned at locations corresponding to the user's shoulders; When the first action is performed, the control unit controls the inflation of the shoulder airbag in conjunction with the first action to support the user's shoulder.

9. The massage device according to claim 2, characterized in that, The lateral distance between the first massage ball and the second massage ball can be adjusted. With the first and second massage balls supporting the user's cervical spine from the side, the control unit controls the second action of moving the massage module in one or more directions, either up or down.

10. The massage device according to claim 9, characterized in that, With the first and second massage balls supporting the user's cervical spine from the side, the control unit controls the alternating and repeated upward and downward movements of the massage module.

11. The massage device according to claim 9, characterized in that, The control unit controls the first action and the second action to be linked in a time-sequential manner.

12. The massage device according to claim 2, characterized in that, The control unit adjusts the distance between the first massage ball and the second massage ball according to the vertical position of the massage module.

13. The massage device according to claim 2, characterized in that, The control unit controls the movement of one or more of the first and second massage balls forward to change the degree of their forward motion.

14. The massage device according to claim 2, characterized in that, The control unit divides the forward movement of one or more massage balls, the first massage ball and the second massage ball, into multiple stages, and the control unit controls the first action to be performed in each of the multiple stages.

15. The massage device according to claim 2, characterized in that, Also includes: Arm airbags are positioned at locations corresponding to the user's arm. When the first action is performed, the control unit controls the inflation of the arm airbag in conjunction with the first action to support the user's arm.

16. The massage device according to claim 2, characterized in that, The control unit controls the movement of the massage module in the vertical direction in the area corresponding to the user's spine, either before the first action or between multiple executions of the first action.

17. The massage device according to claim 2, characterized in that, The lateral distance between the first massage ball and the second massage ball can be adjusted. The control unit controls the massage module to move vertically in the area corresponding to the user's spine. When the massage module moves upward, the control unit controls the distance between the first massage ball and the second massage ball to alternate between a first distance and a second distance greater than the first distance. When the massage module moves downward, the control unit controls the distance between the first massage ball and the second massage ball to become a distance less than the first distance.

18. The massage device according to claim 17, characterized in that, The control unit controls the massage module to make the massage mode provided when it moves upward different from the massage mode provided when it moves downward.

19. The massage device according to claim 2, characterized in that, The first massage ball and the second massage ball are configured to rotate forward or backward with reference to a surface portion opposite to the user's body. The control unit controls the first and second massage balls to perform a swinging motion, causing them to rotate in opposite directions.

20. The massage device according to claim 2, characterized in that, Also includes: The first and second leg massage sections accommodate the user's legs. The control unit controls the extension and retraction of one or more leg massage units, the first leg massage unit and the second leg massage unit, before the first action or between multiple executions of the first action.

21. The massage device according to claim 2, characterized in that, The massage module includes: The module driver unit drives the operation of the massage module; and The ball drive unit drives the movement of the first massage ball and the second massage ball.

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