Massage effector

Abstract

The invention relates to a massage effector (10) intended to be attached to the end of a robotic arm. It comprises a mounting bracket (12), a mechanical frame (13), and a flexible casing (14, 15, 16) attached to said frame to be in contact with the body to be massaged. The mechanical frame (13) comprises: – a proximal end (17) fixed to the end (11) of said mounting bracket (12); – a distal end (18) tapered and opposite the proximal end (17); and – two lateral edges (19) connecting the two ends (17, 18). The mechanical frame, together with said flexible casing, forms a ventral face (VF) comprising at least two distinct rigidity zones, with a reduced rigidity zone located between the two ends (17, 18) and the lateral edges (19), so as to allow relaxation of the muscles in said reduced rigidity zone during a massage. Figure for the abridged version: Fig 1.

Description

Title of the invention: Massage effector technical field

[0001] The present invention relates to a massage effector intended to be attached to the end of a robotic arm, said massage effector comprising a mounting support intended to be coupled to the end of said robotic arm, a mechanical frame coupled to said mounting support and a flexible casing attached to said frame to be in contact with the body to be massaged. Previous technique

[0002] In the health field, and more specifically in the area of ​​body care, the practice of physical stimulation, commonly called "massage," of all or part of the body is widespread to help relax muscles and prevent muscle disorders. Massages thus promote better health, increased resilience to periods of stress, and greater immune resistance. They also promote blood circulation and lymphatic drainage, which can slow down skin aging.

[0003] Relaxation areas already exist that are equipped with automated massage chairs, allowing massage sessions to be performed without the presence of practitioners, through clothing, such as in airport waiting areas, break rooms in workplaces, etc. Various more or less automated massage devices also exist to complement the work of practitioners on bare skin.

[0004] US publication 2022 / 0161441 A1 proposes a robotic body care system designed to perform massages on bare skin. It includes, in particular, two massage effectors equipped with articulated fingers and controlled according to treatment information entered into the system.

[0005] However, existing massage solutions are not satisfactory from the point of view of the person's comfort, since no solution can replace, even remotely, the experienced hands of a practitioner, nor the pressure, stretching and wrapping gestures that he performs with his hands.

[0006] If the massage tool is a rolling ball, the sensation is too fleeting to be pleasant. There is no gliding, and therefore no drainage of the muscles, nor any skin stretching, the stimulation of which is essential for lymphatic and venous circulation. Furthermore, the touch is too rigid, and there is no enveloping sensation characteristic of so-called "Swedish" massage.

[0007] If the massage device is a roller that rolls or glides, the size and shape of the roller do not allow it to be adapted to all areas of the body. Even the areas The accessible points are too crudely positioned for a complete massage. The risk of causing pain is significant due to the poor adaptability to the body's contours. Furthermore, there is no skin stretching.

[0008] If the massage device is a pulsed air nozzle, the treatment area is too small, as with a massage ball, and there is no skin stretching. Furthermore, the noise and sensation associated with the airflow are a significant drawback to user comfort.

[0009] If the massage organ is one or more fingers, as in the previously cited publication, the treatment area is too small to provide a comprehensive massage, and therefore not a sensation of the person's body being cared for. Description of the invention

[0010] The present invention aims to overcome these drawbacks by proposing a new massage effector solution, intended to be mounted at the end of a robotic arm, and designed to guarantee a moment of complete muscular and mental relaxation by taking care of the person's body, through gentle intentions including broad contacts and progressive pressures, but also mobilizations of fleshy muscle areas or even precise and firm contacts for the treatment of trigger points (congested and inflamed areas of muscle tissue).

[0011] To this end, the invention relates to a massage effector of the type indicated in the preamble, characterized in that said mechanical frame comprises: - a proximal end fixed to the end of said fixing support; - a tapered distal end opposite the proximal end; and - two lateral edges connecting the two ends; said mechanical framework forming, together with said flexible casing, at least one ventral face of said massage effector, and in that said ventral face comprises at least two distinct rigidity zones, with a reduced rigidity zone placed between the two extremities and the lateral edges, so as to allow relaxation of the muscles in said reduced rigidity zone during a massage.

[0012] In a preferred embodiment of the invention, said mechanical framework also includes an upper part fixed at the distal end, the upper part being arranged to form, with said flexible cover, a dorsal face of said massage effector.

[0013] Advantageously, said mechanical frame further comprises a set of articulated struts between said lateral edges and said upper part so as to create a deformable structure in at least one plane passing through both ends and between the two lateral edges of said framework. At least one of said spacers may be coupled to an actuator to control the deformation of the structure of said mechanical framework.

[0014] In the preferred form of the invention, said mechanical frame comprises a blade of flexible material folded into a V at an acute angle, the apex of the V forming said distal end, a first branch of the V forming a support plate comprising said lateral edges, and the second branch of the V forming a counter-plate corresponding to the upper part of said frame.

[0015] In addition, said flexible casing includes at least one massage pad overmolded to said mechanical frame to surround at least said proximal end, said distal end and said lateral edges with a flexible lining and form said ventral face of the massage effector.

[0016] Said flexible cover may further include a protective sleeve arranged to conceal said massage pad, the remaining part of said mechanical frame and to attach to said fixing support, and a hygiene sock arranged to cover said protective sleeve and to be in contact with the body to be massaged.

[0017] The reduced rigidity zone provided in the ventral face of said massage effector can be obtained by a reduction in thickness, a lower density, a recess and / or a hollow provided in said mechanical frame and / or in said flexible casing.

[0018] The ventral face of said massage effector may have a contact surface of between 60 and 120 cm2, and a width / length ratio substantially equal to ^2.

[0019] The massage effector may further include one or more pressure sensors disposed in the ventral face of said massage effector to control the massage pressure via the robotic arm. Brief description of the drawings

[0020] The present invention and its advantages will become more apparent from the following description of several embodiments given by way of non-limiting examples, with reference to the accompanying drawings, in which:

[0021] Figure 1 is a perspective view, partly transparent, of a massage effector according to the invention, without a protective sleeve or hygiene sock.

[0022] Figure [Fig. 2] is a longitudinal cross-sectional view of the complete massage effector of Figure [Fig. 1],

[0023] Figure 3 is a view similar to Figure 2, essentially showing the mechanical framework of the massage effector in a curved position.

[0024] Figure 4 is a bottom view of the massage effector of Figure 1, and

[0025] Fig. 5 is a cross-sectional view of the massage effector of Fig. 2 according to the cutting plan VV. Description of the implementation methods

[0026] In the illustrated embodiments, identical elements or parts bear the same reference numbers. Furthermore, terms with a relative meaning, such as vertical, horizontal, right, left, front, back, above, below, etc., should be interpreted under normal conditions of use of the invention, as shown in the figures. The X, Y, and Z axes are defined by an orthonormal coordinate system illustrated in [Fig. 1]. Moreover, the geometric positions indicated in the description and claims, such as "perpendicular," "parallel," and "symmetrical," are not limited to the strict geometric sense but extend to geometric positions that are close, i.e., that allow a certain tolerance within the technical field considered, without affecting the result obtained.This tolerance is notably introduced by the adverb "sensible", without this term necessarily being repeated before each adjective.

[0027] The massage effector 10 according to the invention is intended to be attached to the end of a robotic arm, which can be controlled based on protocols established by practitioners, such as physiotherapists, to perform muscle relaxation massages. The patient or user lies on a treatment table. They may have a remote control that allows them to remotely control the procedure and adjust the massage pressure at any time. An operator can monitor the procedure. The robot can be intelligently designed to adapt its trajectory in real time to the morphology of each individual by scanning the body at the start of the session and throughout the session.

[0028] With reference to the figures, the massage effector 10 comprises the following main parts: - a mounting bracket 12 arranged to be coupled to the end of the robotic arm (not shown), - a mechanical frame 13 fixed to one end 11 of the fixing support 12, and - a flexible cover 14, 15, 16 attached to the mechanical frame 13 to be in contact with the body to be massaged.

[0029] In the example shown, the mounting bracket 12 constitutes an electromechanical connector and allows the massage effector 10 to be attached to a connecting plate (not shown) at the end of an articulated arm of a robot or other automated device, such as the massage robot described in the applicant's publication FR 3 067 957 B1. The mounting bracket 12 allows the transmission of electrical control and power signals. It is also inclined relative to the user's body contact surface SC to allow optimized access of the massage effector 10 to all areas of the body. The angle of inclination can be understood as between 30° and 60°, and preferably equal to 45°.

[0030] In the example shown, the mechanical framework 13 comprises: - a proximal end 17 fixed to the end 11 of the fixing support 12 forming, with the flexible sheath, the heel 27 of the massage effector 10; - a distal end 18 tapered and opposite the proximal end 17 forming, with the flexible sheath, the tip 28 of the massage effector 10; and - two lateral edges 19 connecting the two ends 17, 18 forming, with said flexible envelope, the sides 29 of the massage effector 10.

[0031] The mechanical framework 13 more specifically comprises the following main parts: - a flexible material blade 22, in the shape of a V, defining a support plate 22a and a counter plate 22b; - a set of spacers 23 articulated between the support plate 22a and the counter plate 22b; and - an actuator 24 housed in the mounting support 12 and coupled to the nearest spacer 23 via a transmission by connecting rods 25 and 26.

[0032] The support plate 22a of the frame forms, with the flexible cover, a ventral face FV of the massage effector 10, and the counter plate 22b forms, with the flexible cover, a dorsal face FD of the massage effector 10. The ventral face FV is connected to the dorsal face FD by the tip 28 on the side of the distal end 18, and by the fixing support 12 on the side of the proximal end 17.

[0033] The material blade 22 can be made of sheet metal or any other suitable material based on synthetic or composite materials, having elastic properties. The elastic properties are due to a combination of characteristics, such as the material used, the small thickness of the blade (on the order of 0.3 to 0.7 mm, without these values ​​being limiting), and the V-shape which acts as a spring blade. The angle of the V is an acute angle which can be between 10° and 30° and preferably equal to 20°, without these values ​​being limiting.

[0034] The support plate 22a may be solid or hollow. In all cases, it has a closed contour defining the proximal end 17, the distal end 18, and the two lateral edges 19 that connect the two ends. This contour may be ogive-shaped, although this example is not limiting. The support plate 22a may have one or more chamfers (not shown), and in particular a chamfer at the proximal end 17 and / or the distal end 18, which contributes to the progressive application of pressure to the massage effector 10 on the human body, and thus avoids possible jerking due to friction between the skin and the effector.

[0035] In the example illustrated in [Fig. 4], the support plate 22a is hollowed out in its central part to create distinct stiffness zones Z1, Z2, in order to increase the flexibility to the massage effector 10 and user comfort, in combination with the soft cover 14, 15, 16, as described further below.

[0036] The mechanical framework 13 is deformable thanks to its flexibility, an essential characteristic for transmitting massage pressure, particularly when uniform pressure must be applied to a concave area such as the lumbar curve when the user is lying on their stomach. This ability to deform is inherent to the design of the material blade 22 itself, without any other mechanism.

[0037] However, in the example shown, the mechanical frame 13 further comprises spacers 23 of different lengths, extending between the support plate 22a and the counter-plate 22b, to which they are respectively articulated via pivot axes 30. The mechanical frame 13 thus comprises a deformable structure according to the Fin Ray® effect, which allows the massage effector 10 to move 15° upwards and 45° downwards, without these values ​​being limiting. These are essential characteristics for covering, in particular, the entire posterior surface of the human body, and especially the back and the back of the legs.

[0038] The actuator 24 may consist of a servomotor or any other technically equivalent actuator. It is controlled via an electronic board (not shown) provided in the mounting bracket 12. When rotated, in either direction, the massage effector 10 bends thanks to the connecting rods 25 and 26, and the articulated spacers 23. Furthermore, when a force is applied under the massage effector 10 along arrow P in [Fig. 3], it tends to bend around the fulcrum, creating an enveloping effect on the massaged area of ​​the human body.This mobility increases the ability of the massage effector 10 to reach areas far from the body, such as the hollows of the shoulders or the sides, and to conform to the shape of the body, thus increasing the feeling of envelopment for the user, the precision of the movement and enriching the library of movements that can be reproduced by the robot.

[0039] The actuator 24 can be controlled in three different modes: 1) Position control: This mode is determined by software embedded on an electronic board within the robot. It allows the massage effector 10 to be maintained in a fixed and rigid position, or to be moved according to a predetermined movement pattern. 2) Control via pressure sensors: This mode allows you to give a set effort to maintain at the level of certain pressure sensors provided in the massage effector 10, or a pressure difference to maintain between two areas of said effector. 3) Free: In this mode, the actuator 24 does not operate and the curvature of the massage effector 10 freely follows the external constraints applied to it.

[0040] In the example shown, the flexible envelope comprises the following main parts: - a massage pad 14 attached to all or part of the mechanical frame 13 to surround it with a thick and flexible padding; - a protective sleeve 15 concealing the massage pad 14 and the remaining part of the mechanical frame 13, attached to the fixing support 12, and - a hygiene sock 16 intended to cover the protective shirt 15 and be in contact with the body to be massaged.

[0041] The massage pad 14 is designed to ensure a smooth contact between the massage effector 10 and the user's body. It is made of an elastic and cushioning material. The material may be silicone or similar, for example, with a hardness between 4 and 8 Shore A, and an average thickness between 8 and 16 mm. The massage pad 14 is closely connected to the mechanical frame 13 by any suitable assembly method, and in particular by overmolding around the material blade 22 of the mechanical frame 13. The examples of materials and their associated values ​​are given by way of non-limiting illustration.

[0042] The protective cover 15 serves to aesthetically conceal the massage pad 14 and the mechanical frame 13 and to protect them from external dust and dirt. It is made of a flexible and waterproof material. The material may be silicone or a similar material, for example, with a hardness between 15 and 30 Shore A and a thickness between 0.5 and 1.2 mm. The protective cover 15 is further attached to the mounting bracket 12 by means of a bead 31 in a groove 32 provided on the periphery of said bracket, or by any other suitable means. The examples of materials and associated values ​​are given by way of non-limiting illustration.

[0043] The hygiene sock 16 is designed to ensure contact between the massage effector 10 and the user's body, whether directly on bare or clothed skin. It is made of a material offering a soft and pleasant feel, allowing for massage with or without oil. The material may be medical-grade silicone, for example, with a hardness between 25 and 35 Shore A and a thickness between 0.8 and 1.3 mm. This material may or may not be coated with a smoothing coating, such as a polymer, and in particular Parylene or a similar material, in a layer approximately a few micrometers thick. The hygiene sock 16 is preferably removable and single-use to prevent the risk of cross-contamination. The examples of materials and their associated values ​​are given by way of non-limiting illustration.

[0044] The flexible casing 14, 15, 16 is therefore preferably made of silicone, as this material has many advantages: - It can take the desired shape: thickness, rounded, flat, chamfered, etc. - It can have the most pleasant hardness (shore) for the user, - It is inert and biocompatible. The choice of these parameters is important in combination with the metal frame 13 to obtain the characteristics of the massage effector 10: softness, suppleness, rigidity, etc. and pressure transmission.

[0045] The shape and composition of the parts that ensure the contact function with the user's body are preferably studied so as to allow the functions usually performed by the hand of a professional masseur to be carried out: - the heel 27 of the massage effector 10 has two point contact zones CP in its extremities, equivalent to the masseur's thumbs, - the tip 28 of the massage effector 10 has a point contact area CP, equivalent to the tips of the masseur's fingers, - the sides 29 of the massage effector 10 have two linear contact zones CL, equivalent to the sides of the masseur's hand, - the front part of the massage effector 10 has a concave, flat or convex contact area, flexible or rigid depending on the control of the spacers 21, equivalent to the joined fingers of the masseur's hand, and - the ventral face FV of the massage effector 10 has a flat and wide part with a hollow area, equivalent to the palmar face of the masseur's hand, as explained below.

[0046] The ventral face FV has distinct rigidity zones Z1 and Z2, with a reduced rigidity zone Z1 located between the heel 27 and the toe 28, and between the sides 29. The reduced rigidity zone Z1 can be located near the heel 27 to ensure muscle relaxation in this area during a massage. This reduced rigidity zone Z1 can be achieved in various ways, by reducing the thickness, creating a concave shape, a recess, and / or lowering the density in the support plate 22a and / or in the massage pad 14. In the example shown, the support plate 22a has a recess 33 between the two lateral edges 19, and the massage pad 14 has a recess 34 in the rear third of the ventral face FV. The hollow 34 can be circular, and correspond to a diameter between 20 and 30 mm over a thickness between 3 and 5 mm, without this shape and these values ​​being limiting.The hollow 34 of the massage pad 14 combined with the recess 33 of the support plate 22a thus gives an impression of circular support, like with the palm of a masseur's hand.

[0047] Thanks to the design of the massage effector 10, the invention makes it possible to meet the objectives intended, as demonstrated below.

[0048] The heel 27 of the massage effector 10 consists of two posterolateral zones The device features large, thick points (CP points) and a flat area across the entire width of the heel 27, connecting the two posterolateral rounded edges. The heel 27 allows for targeted massage of large areas of the human body through rotary friction. The dimensions and volume of these CP points provide significant user comfort. The width of the heel 27 facilitates muscle drainage and skin stretching during deep gliding pressure, combined with the characteristics of the central recess 33 in the support plate 22a described below.

[0049] The tip 28 of the massage effector 10 is rounded and refined by a chamfer (not shown). This area, smaller than the heel 27 and the ventral face FV of the effector, allows for massage of very small parts of the human body, such as the neck or trapezius muscles.The rounded tip (size 28) also allows for work similar to acupressure to treat painful areas such as trigger points or to perform ligament work. Finally, the chamfered edge is a real advantage, allowing for the progressive application of pressure during longitudinal movements, thus preventing the jerky sensation that can occur with excessive friction on the skin. This feature provides genuine comfort for the user with a smooth gliding sensation.

[0050] The recess 33 provided in the support plate 22a is central, elongated, and extends between the proximal end 17 and distal end 18, beyond the hollow 34 provided in the massage pad 14. When pressure is applied longitudinally to a long muscle of the human body, the recess 33 allows the effector to conform to the shape of the muscle, providing much greater comfort for the user. This adaptation of the massage effector 10 to the shape of the muscles makes it possible to stabilize the long muscle on each side for better guidance, tracking, or lateral mobilization. Work on the insertion points of the long muscle is facilitated. It is thus possible to target all the structures of the muscle, including the fleshy part, its aponeurosis, and its fascia. The heel 27 of the massage effector 10 plays a draining role on the muscle.Once the muscle is positioned in the recess 33 of the effector, the heel 27 completes the muscular work by draining the muscle through the application of pressure at the correct point on the surface of said muscle.

[0051] The sides 29 of the massage effector 10 have thick, wide, and rounded areas. They extend from the rounded posterolateral areas to the tip 28 of the effector. Thanks to the longitudinal symmetry of the massage effector 10, it can work in the same way on both sides. This is an advantage compared to the human hand, whose thumb hinders certain maneuvers, such as fascia therapy. Their shape and size also allow gliding work in areas of the human body that are too narrow for the entire massage effector 10, such as between bony landmarks like the shoulder blades and the spine. In this case as well, The use of the edges 29 of the massage effector 10 is an additional advantage for user comfort and sensation.

[0052] The dimensions and proportions of the massage effector 10 of the invention were determined with user comfort in mind. The massage surface is sufficiently large with good proportions. By comparison, the average width-to-length ratio of the human hand is 0.45. Thus, the ventral face FV of the massage effector 10 combines these two advantages: a surface area preferably between 60 and 120 cm² and a width-to-length ratio of 1 / 2. The advantages of such dimensions are to obtain a surface that provides the user with a good feeling of being enveloped and "supported." These proportions, corresponding to those of a human hand, serve to convey an intention of supporting the user. The massage effector 10 also allows for the treatment of a large surface area, limiting the number of movements required by the robot.Finally, the rotations of the massage effector 10 in the horizontal plane remain suitable with this ratio of 0.5.

[0053] The present invention is not limited to the embodiments described but extends to any modification and variant obvious to a person skilled in the art, within the limits of the appended claims. Furthermore, the technical features of the various embodiments and variants mentioned above may be combined, in whole or in part.

Claims

Demands

1. Massage effector (10) intended to be attached to the end of a robotic arm, said massage effector (10) comprising a mounting bracket (12) arranged to be coupled to the end of said robotic arm, a mechanical frame (13) coupled to said mounting bracket (12) and a flexible casing (14, 15, 16) attached to said frame to be in contact with the body to be massaged, characterized in that said mechanical frame (13) is deformable and comprises: - a proximal end (17) fixed to an end (11) of said mounting bracket (12); - a distal end (18) tapered and opposite the proximal end (17); and - two lateral edges (19) connecting the two ends (17, 18);said mechanical framework (13) forming, with said flexible casing (14, 15, 16), at least one ventral face (FV) of said massage effector (10) intended to be in contact with the body to be massaged, and in that said ventral face (FV) comprises at least two distinct rigidity zones (Z1, Z2), with a reduced rigidity zone (Z1) placed between the two ends (17, 18) and the lateral edges (19), so that said ventral face (FV) comprises a flat and wide part provided with a hollow area, equivalent to the palmar surface of a masseur's hand and allows relaxation of the muscles in said reduced rigidity zone (Z1) during a massage.;

2. Massage effector according to claim 1, characterized in that said mechanical frame (13) also includes an upper part (20) fixed at the distal end (18), the upper part (20) being arranged to form, with said flexible casing (14, 15, 16), a dorsal face (FD) of said massage effector (10) opposite said ventral face (FV).

3. Massage effector according to claim 2, characterized in that said mechanical frame (13) further comprises a set of struts (21) articulated between said lateral edges (19) and said upper part (20) so as to create said deformable structure in at least one plane (XZ) passing through the two ends (17, 18) and between the two lateral edges (19) of said frame.

4. Massage effector according to claim 3, characterized in that at less one of said spacers (21) is coupled to an actuator (24) to control the deformation of the structure of said mechanical framework (13).

5. Massage effector according to any one of claims 2 to 4, characterized in that said mechanical frame (13) comprises a blade of material (22) having elastic properties and folded into a V at an acute angle, an apex of the V forming said distal end (18), a first branch of the V forming a support plate (22a) comprising said lateral edges (19), and a second branch of the V forming a counter plate (22b) corresponding to the upper part (20) of said frame.

6. Massage effector according to claim 1, characterized in that said flexible casing comprises at least one massage pad (14) overmolded to said mechanical frame (13) to surround at least said proximal end (17), said distal end (18) and said lateral edges (19) with a lining made of an elastic and cushioning material, and form said ventral face (VF).

7. Massage effector according to claim 6, characterized in that said flexible cover further comprises a protective sleeve (15) arranged to conceal said massage pad (14) and said mechanical frame (13), and to be attached to said fixing support (12), and a hygiene sock (16) arranged to cover said protective sleeve (15) and to be in contact with the body to be massaged.

8. Massage effector according to any one of claims 1 to 7, characterized in that the reduced stiffness zone (Zl) of the ventral face (FV) of said massage effector (10) is obtained by a reduction in thickness, a lower density, a recess (33) and / or a hollow (34) provided in said support plate (22a) and / or in said massage pad (14).

9. Massage effector according to claim 1, characterized in that said ventral face (VF) of said massage effector (10) has a contact surface between 60 and 120 cm2, and a width / length ratio substantially equal to V2.

10. Massage effector according to claim 1, characterized in that it comprises one or more pressure sensors disposed in the ventral face (VF) of said massage effector (10) arranged to control the massage pressure via the robotic arm.

Images