Envelope for massage device, massage device and massage robot together

Abstract

The invention relates to a casing (16) for a massage effector comprising a body forming a cavity (42) intended to be positioned on at least a portion of said massage effector, said body having at least one inner surface (43) forming the internal walls of the cavity (42) and at least one outer surface (44) external to the cavity (42). The casing also includes a surface film fixed to at least one outer surface (44) of the body (41) intended to come into contact with the surface of the area to be massaged, said surface film being made of parylene with a thickness of between 0.2 and 5 µm, said body (41) being made of polymer with a thickness of between 0.5 and 2 mm and a hardness of between 15 and 50 Shore A. Figure for the abstract: Fig 6.

Description

Title of the invention: Envelope for massage effector, massage effector and associated massage robot. Technical field

[0001] The present invention relates to a cover intended to be placed on a massage effector, so as to provide a pleasant touch for the person being massaged. The invention also relates to a massage effector incorporating such a cover or, more generally, a massage robot equipped with an effector and such a cover.

[0002] The invention finds a particularly advantageous application for reproducing the touch of a practitioner on a person's skin, for example for a self-massage tool or for an automated massage robot. The invention thus finds multiple applications in wellness massages as well as therapeutic massages. Previous technique

[0003] In the health field, the use of physical treatments, commonly known as "massage," is widespread. Such techniques can be used for therapeutic purposes, such as lymphatic drainage or the treatment of musculoskeletal disorders, or for general well-being.

[0004] Massages can be performed using different techniques.

[0005] The most widespread technique is manual massage, performed with the hands of a practitioner. It is carried out either directly on the skin or through clothing. In addition, it can be performed by coating the massaged area, for example with oil.

[0006] During the massage, the practitioner can vary the pressure applied, the contact area, and the speed of the massage. With the use of oils, traces of oil systematically remain on the surface of the massaged area, and the use of massage oil is difficult for self-massage.

[0007] Another technique involves performing the massage with a manual effector, that is, a device placed between the practitioner's hands and the area to be massaged. The practitioner holds this effector and moves it over the area, varying, if necessary, the pressure applied to the body surface, the contact area, and the speed of movement over the area. This type of device is, for example, marketed under the Akwaterra® brand with a ceramic effector. However, a ceramic effector has the disadvantage of being fragile, quite heavy, and expensive. Furthermore, the feel of a ceramic effector is not comfortable for everyone. Finally, ceramic may require special precautions. Additional precautions are necessary to ensure hygiene, especially if used by multiple people or in a professional setting. Therefore, a ceramic effector is primarily intended for domestic and personal use.

[0008] Another technique involves using a massage robot equipped with at least one effector in contact with the area to be massaged. This effector can optionally massage different people successively, like a practitioner.

[0009] Aescape® offers a massage robot with two very specific effectors, described in US patent application 2022 / 0388165. In the videos and sales brochures, contact between the effectors and the area to be massaged is ensured by a special garment worn by the person being massaged. Thus, the hygiene of the effectors is guaranteed by the clothing worn by the different people being massaged, and it is not necessary for the effectors to reproduce the touch of a practitioner. However, requiring the wearing of specific clothing by the people being massaged is particularly restrictive and limiting. Managing this specific clothing is complex and costly: it must be available in different sizes and cleaned regularly.

[0010] The technical problem of the invention is therefore to provide a massage effector that can simulate the touch of a practitioner, which can possibly be used in direct contact with the skin, with or without the application of oil, cream or talc, which is easy to maintain and guarantees maximum hygiene between two people. Description of the invention

[0011] The invention proposes to address this technical problem by using an interchangeable cover between two people. This cover is intended to be placed on a massage effector, allowing the simulation of human touch by means of two materials interacting between the massage effector and the surface of the area to be massaged. This surface can be either the skin of the person being massaged or the clothing worn by the person being massaged.

[0012] More specifically, it has been observed that the combination of a polymer body covered with a parylene-based surface film of a precise thickness makes it possible to simulate human touch. Thus, a parylene surface film with a thickness between 0.2 and 5 µm is particularly suitable for achieving this contact, so that the deformations of the body interact with the deformations of human tissue to reproduce the sensation of a classic massage. The polymer constituting the body is chosen from the following categories: silicones, thermoplastic elastomers (or TPE), thermoplastic polyurethanes (or TPU), or latex.

[0013] Thus, according to a first aspect, the invention relates to a casing for a massage effector comprising a body forming a cavity intended to be positioned on at least a part of said massage effector. The body presents at less an internal surface forming the internal walls of the cavity and at least an external surface external to the cavity.

[0014] The invention is characterized in that the envelope also includes a surface film fixed on at least one external surface of the body intended to come into contact with the surface of the area to be massaged, said surface film being made of parylene with a thickness between 0.2 and 5 pm, said body being made of polymer with a thickness between 0.5 and 2 mm and a hardness between 15 and 50 Shore A.

[0015] The invention stems from an observation that the differences in hardness between the polymer body and the parylene surface film reproduce the sensation of touch of a practitioner on the skin of a person being massaged, so that it is now possible to directly massage the skin of the person being massaged without the person being massaged wearing a specific fabric to accept the robotic massage.

[0016] In the context of the invention, the hardness of the body is measured using the Shore hardness scale, more specifically Shore A hardness. The measurement of the hardness of polymer materials using the Shore A scale is performed with an instrument called a Shore A durometer. This durometer has a truncated cone-shaped indenter. To perform the measurement, the indenter is pressed into the polymer material under a standardized force. The depth of penetration of the indenter into the material is then measured. This depth is translated into a number on the Shore A scale, which generally ranges from 0 to 100. A higher number on this scale indicates greater material hardness. This method is particularly valued for its ease of use and the speed with which it provides results.

[0017] The polymer may correspond to a medical-grade silicone. Medical-grade silicone refers to a category of silicones specially formulated and manufactured to meet the stringent requirements of the medical and healthcare sector. These materials are widely used because of their biocompatible properties, meaning they can interact with the human body without causing adverse reactions.

[0018] According to the invention, a surface film is made of parylene with a thin layer, between 0.2 and 5 pm. To obtain this thin layer, it is possible to use chemical vapor deposition, also called CVD for "Chemical Vapor Deposition" in the Anglo-Saxon literature.

[0019] The parylene deposition method, called Chemical Vapor Deposition (CVD), begins with the sublimation of the parylene dimer, a solid form of the material, which is heated in a sublimation chamber until it turns into vapor. This vapor is then directed to a pyrolysis zone where it is heated to an even higher temperature. At this stage, the dimer molecules decompose into gaseous parylene monomers.

[0020] These gaseous monomers are transported to the deposition chamber where they encounter the portion of the casing to be coated, which is maintained at a lower temperature. The temperature difference causes the monomers to polymerize on at least one external surface of the casing, forming a solid and uniform layer of parylene. This film adheres perfectly to the surfaces, conforming to all contours and crevices.

[0021] Finally, after deposition, the body is cooled to room temperature and removed from the deposition chamber. This process makes it possible to create very thin and resistant coatings that protect the objects from environmental and chemical influences.

[0022] Preferably, the surface film is made of parylene C. Parylene C is particularly effective for several reasons. First, its biocompatibility is remarkable, meaning that it generally does not trigger any allergic, irritating, or toxic reactions, which is crucial for massage effectors.

[0023] In addition, it offers excellent protection as a barrier against liquids and gases, essential for safeguarding the electronic components of massage effectors in contact with the skin. Parylene C is also durable, with good resistance to wear, corrosion, and chemical agents, which extends the lifespan of the massage effectors and reduces the frequency of their replacement.

[0024] In addition, this material is distinguished by its ability to form very thin and conformable coatings which adhere perfectly to all surfaces, even the most complex or miniaturized, thus guaranteeing complete coverage without altering the functionality or shape of the massage effectors.

[0025] Preferably, the thickness of the surface film is between 1 and 2 µm. This specific thickness presents a particularly interesting compromise between the need to maintain the surface film on the polymer body and the desired improvement in contact with the skin of the person being massaged.

[0026] According to one embodiment, the body and the surface film are dimensioned such that the casing exhibits an elasticity of between 5 and 100%. Elasticity is a fundamental property of materials that describes their ability to deform under stress and then return to their original shape when that stress is removed. When an elastic material is subjected to tension or pressure, it stretches or compresses depending on the applied force. Once the force is removed, the material returns to its initial dimensions without permanent damage.

[0027] An elasticity between 5 and 100% is particularly effective for covering a massage effector and ensuring that the cover remains in place throughout the massage while allowing effective interchangeability between two people.

[0028] To ensure the attachment of the casing, it is also possible to use means of attaching the casing to the massage effector, for example grooves.

[0029] Preferably, the body has a bead positioned around an opening of said cavity so as to guarantee this fixing without machining the effector.

[0030] Since the surface film conforms to the outer surface of the body, it is possible to obtain a smooth, sandblasted, or striated surface film depending on the topology of the outer surface of the body intended to receive the surface film. In a first embodiment, the outer surface of the body intended to receive the surface film has a surface roughness Ra of less than 200 pm so as to obtain a practically smooth contact surface with the skin.

[0031] The use of a massage effector with a virtually smooth contact surface offers several advantages that enhance the overall massage experience. First, it ensures greater comfort by minimizing friction and skin irritation, which is particularly beneficial during prolonged massages or for sensitive skin. A smooth surface also allows for a more even distribution of pressure during the massage, thus avoiding excessive pressure points that can be painful. This ensures more balanced and effective stimulation of muscle tissue.

[0032] In addition to reducing the risk of minor skin injuries such as scratches, a smooth surface is much easier to clean and disinfect, especially if the casing is not perfectly waterproof. This is essential for maintaining hygiene, particularly in professional environments where equipment is shared. The ease with which the effector glides over the skin, made possible by the smooth surface, is crucial for performing the fluid and continuous movements required for various massage techniques. Furthermore, when used with oils or lotions, this effector allows for a gentle and even application, thus enriching the massage experience for those receiving the massage.

[0033] These characteristics make the massage effector with a smooth surface a preferred choice for those seeking to optimize the comfort and effectiveness of the massage.

[0034] According to an alternative embodiment, the outer surface of the body intended to receive the surface film has a plurality of protrusions with a height ranging from 0.5 to 10 mm. The use of a massage effector with protrusions, as opposed to a smooth surface, also offers distinct advantages for massage. The protrusions can help target specific areas more deeply, providing a more precise and concentrated massage. This ability to exert targeted pressure makes effectors with protrusions particularly effective for working on tension points and muscle knots, thus facilitating the release of tension and the relaxation of tight tissues.

[0035] In addition, the protrusions stimulate blood circulation in the massaged areas. By increasing blood flow, they contribute to better oxygenation and to a More efficient elimination of toxins from muscles and tissues. This stimulation can also have a beneficial effect on cell regeneration and may help reduce inflammation and muscle pain.

[0036] The interaction of the protrusions with the skin can also have stimulating effects on the skin's sensory receptors, which can enhance the overall feeling of well-being and contribute to deeper relaxation during the massage. This sensory stimulation can also be used as a form of therapy to improve skin sensitivity and responsiveness, especially in areas where sensitivity is reduced.

[0037] Thus, the massage effector with protrusions proves to be a very useful tool for providing a more intense and targeted therapeutic massage, offering both physical and sensory benefits that increase the effectiveness of the treatment and the relaxation experience for the person being massaged.

[0038] Thus, the covering can take several distinct forms and can be easily interchanged according to the expectations and needs of the person being massaged. It should be noted that the person can be massaged directly on the skin or over clothing without changing the invention. Similarly, oil or other fluids can be used to enhance the massage.

[0039] According to a second aspect, the invention relates to a massage effector intended to be fixed to the end of a robotic arm, said massage effector comprising a fixing support arranged to be coupled to the end of said robotic arm, and a mechanical frame coupled to the fixing support characterized in that it is capable of receiving an envelope according to the first aspect of the invention.

[0040] According to a third aspect, the invention relates to a massage robot comprising at least one robotic arm characterized in that said robotic arm is provided with a massage effector according to the second aspect of the invention. Brief description of the drawings

[0041] 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:

[0042] Figure 1 is a perspective view, partly transparent, of a massage effector, without a protective sleeve or casing.

[0043] Figure [Fig. 2] is a longitudinal cross-sectional view of the complete massage effector of Figure [Fig. 1],

[0044] Figure 3 is a view similar to Figure 2, essentially showing the mechanical framework of the massage effector in a curved position.

[0045] [Fig.4] is a bottom view of the massage effector of [Fig.1],

[0046] Fig. 5 is a cross-sectional view of the massage effector of Fig. 2 along the section plane VV,

[0047] Figure 6 is a perspective view of the envelope according to the invention, and

[0048] The [Fig.7] is a longitudinal section view of the envelope according to the invention. Description of the implementation methods

[0049] 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, such as "perpendicular," "parallel," and "symmetrical," are not limited to the strict sense defined in geometry, but extend to geometric positions that are close, that is, 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.

[0050] 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 person being massaged lies on a treatment table. They may have a remote control that allows them to remotely control the treatment and adjust the massage pressure at any time. An operator can monitor the treatment. 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.

[0051] With reference to Figures 1 to 5, 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 attached to the mechanical frame 13 to be in contact with the body to be massaged.

[0052] 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 any other automated device, such as the massage robot described in publication FR 3 067 957 B1 of the applicant. The mounting bracket 12 allows the transmission of electrical control and power signals. It is also inclined relative to the contact surface SC of the body of the person being massaged, to allow optimized access of the massage effector 10 to all areas of the body. The angle of inclination can be between 30° and 60°, and preferably equal to 45°.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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 thinness 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.

[0057] 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 ogival in shape, 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 progressively applying pressure to the massage effector 10 on the human body, thus avoiding possible jerks related to friction constraints between the skin and the effector.

[0058] In the example illustrated in [Fig.4], the support plate 22a is hollowed out in its central part to create distinct rigidity zones Z1, Z2, in order to increase the flexibility of the massage effector 10 and the comfort of the person being massaged, in combination with the soft cover 14,15, as described later.

[0059] 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 person being massaged is lying on their stomach. This ability to deform is inherent to the design of the material blade 22 itself, without any other mechanism.

[0060] 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.

[0061] 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 being enveloped for the person being massaged, the precision of the movement and enriching the library of movements that can be reproduced by the robot.

[0062] 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.

[0063] 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 - an envelope 16 intended to cover the protective shirt 15 and to be in contact with the body to be massaged.

[0064] The massage pad 14 is designed to ensure a smooth contact between the massage effector 10 and the body of the person being massaged. 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.

[0065] 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.

[0066] The envelope 16 has the function of ensuring contact of the massage effector 10 with the body of the person being massaged, directly on bare skin or on clothing worn by the person being massaged.

[0067] Figures 6 and 7 illustrate more specifically this envelope 16, the subject of the present invention, independently of the massage effector 10.

[0068] Thus, the casing 16 consists of a body 41 comprising a cavity 42 defining an inner surface 43 to the cavity 42 as well as an outer surface 44 to cavity 42. The inner surface 43 of the body is placed opposite the massage effector 10, and in contact with the shirt 15, in the example of [Fig.2].

[0069] A bead 46 is located around the opening of the cavity 42. The bead 46 can also be placed inside the casing 16, on the inner surface 43 of the body 41, or outside the casing 16, on the outer surface 44, or straddling the opening of the cavity 42.

[0070] According to the invention, the body 41 is made of polymer. The polymer is chosen such that it is safe for the person being massaged. Preferably, it is chosen from medical-grade silicones.

[0071] The polymer is chosen so that the hardness of the body 41 is between 15 and 50 Shore A, preferably between 25 and 35 Shore A. The hardness of the body 41 can thus be adapted according to the desired effect, and in particular the pressure exerted by the massage effector 10 on the surface of the massaged area.

[0072] The thickness el of the body 41 is between 0.5 and 2 mm, preferably it is between 0.75 and 1.5 mm.

[0073] A surface film 45 is deposited on the outer surface 44 of the body 41. This surface film is made of Pyralene. The surface film 45 at least partially covers the outer surface 44. The surface film 45 gives the area of ​​the body 41 that it covers less adhesion to the massed area, without disturbing the mechanical properties of the polymer.

[0074] The surface film 45 is more specifically made of parylene C, which provides additional strength to the outer surface 44, while also having excellent biocompatibility. It allows for the reproduction of a practitioner's touch.

[0075] The thickness of the surface layer 45 is between 0.2 and 5 pm, and preferably between 1 and 2 pm,

[0076] The body 41 and the surface film 45 are dimensioned such that the elasticity of the cover 16 is between 5 and 100%. This elasticity facilitates the donning, positioning, and removal of the cover 16 on the effector 10. This property is also important to ensure that the cover 16 remains in place on the effector 10 throughout the massage.

[0077] The choice of polymer for the body 41 and parylene for the surface film 45 allows the envelope 16 to be washed and / or disinfected between each use, making it reusable.

[0078] The surface finish of the body 41 can be smooth, sandblasted, or grooved. Sandblasted or grooved means that the arithmetic surface roughness, Ra, measured along a direction normal to the surface, is, for example, less than 200 pm. This roughness can be adjusted by sandblasting the body 41.

[0079] According to another aspect of the invention, not shown in the figures, the body 41 may have protrusions on its external surface 44. These protrusions have, for example, a height of between 0.5 and 10 mm. These protrusions allow the pressure exerted on the surface of the massaged area to be varied locally.

[0080] Given the nature of the surface film 45, which is made of parylene, and its thickness, it does not modify the effect of the outer surface 44, nor that of any protrusions that may be present.

[0081] The flexible casing 14,15 is 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 person being massaged, - 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.

[0082] The shape and composition of the parts that ensure the contact function with the body of the person being massaged are preferably designed 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 areas CP at 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 areas 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.

[0083] The ventral face FV indeed comprises 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 obtained in various ways, by a reduction in thickness, a concave shape, a recess, and / or a lower 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 The massage pad 14 has a recess 34 in the rear third of its ventral face FV. The recess 34 can be circular, with a diameter between 20 and 30 mm and a thickness between 3 and 5 mm, although this shape and these values ​​are not limiting. The recess 34 of the massage pad 14, combined with the cutout 33 of the support plate 22a, thus gives the impression of circular support, like the palm of a masseur's hand.

[0084] Thanks to the design of the massage effector 10, the invention makes it possible to meet the objectives intended, as demonstrated below.

[0085] The heel 27 of the massage effector 10 consists of two large, thick posterolateral areas (point contacts CP) and a flat area spanning the entire width of the heel 27, connecting the two posterolateral rounded areas. The heel 27 allows for targeted work on large areas of the human body through rotary friction. The dimensions and volume of these point contacts CP provide real comfort for the person being massaged. The width of the heel 27 allows for muscle drainage and skin stretching during deep gliding muscle pressure, combined with the characteristics of the central recess 33 provided in the support plate 22a described below.

[0086] The tip 28 of the massage effector 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 working on very small parts of the human body such as the neck or trapezius muscles. The rounded tip 28 also allows for work equivalent to acupressure to treat painful areas such as trigger points or to perform ligament work. Finally, the presence of the chamfer is a real advantage for allowing a progressive application of pressure during longitudinal movements, which avoids the jerky effect that can occur when there is excessive friction on the skin. This feature provides real comfort for the person being massaged, with a sensation of smooth gliding.

[0087] 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 person being massaged. This adaptation of the massage effector 10 to the shape of the muscles allows the long muscle to be positioned 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 wedged in the recess 33 of the effector, the heel 27 completes the muscular work by draining the muscle by applying pressure to the right place on the surface of said muscle.

[0088] 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 fasciatherapy work. 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 the comfort and sensation of the person being massaged.

[0089] The dimensions and proportions of the massage effector 10 of the invention were determined with the comfort of the person being massaged always 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 person being massaged with a good feeling of being enveloped and "cared for." These proportions, corresponding to those of a human hand, serve to convey an intention of caring for the person being massaged. The massage effector 10 also allows for the treatment of a large surface area, limiting the number of movements of the robot.Finally, the rotations of the massage effector 10 in the horizontal plane remain suitable with this ratio of 0.5.

[0090] 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. Furthermore, the technical features of the various embodiments and variants mentioned above may be combined, in whole or in part.

Claims

Demands

1. Enclosure (16) for a massage effector (10) comprising a body (41) forming a cavity (42) intended to be positioned on at least a part of said massage effector (10), said body (41) having at least one inner surface (43) forming the inner walls of the cavity (42) and at least one outer surface (44) external to the cavity (42) characterized in that it also comprises a surface film (45) fixed on at least one outer surface (44) of the body (41) intended to come into contact with the surface of the area to be massaged, said surface film (45) being made of parylene with a thickness of between 0.2 and 5 µm, said body (41) being made of polymer with a thickness (el) of between 0.5 and 2 mm and a hardness of between 15 and 50 Shore A.

2. Envelope intended for a massage effector (20) according to claim 1, characterized in that the surface film (45) is made of parylene C.

3. Envelope intended for a massage effector according to one of claims 1 or 2, characterized in that the thickness of the surface film (45) is between 1 and 2 pm.

4. Envelope for a massage effector according to any one of claims 1 to 3, characterized in that the dimensions and materials of the body (41) and of the surface film (45) are defined in such a way that the envelope (16) has an elasticity between 5 and 100%.

5. Envelope intended for a massage effector according to any one of claims 1 to 4, characterized in that the body (41) has a ridge (46) positioned around an opening of said cavity (42).

6. Envelope intended for a massage effector according to any one of claims 1 to 5, characterized in that the outer surface (44) of the body intended to receive the surface film (45) has a surface roughness Ra of less than 200 pm.

7. Envelope for a massage effector according to any one of claims 1 to 5, characterized in that the outer surface (44) of the body (41) has a plurality of protrusions whose height is between 0.5 and 10 mm.

8. Envelope intended for a massage effector according to any one of claims 1 to 5, characterized in that said body (41) is made of silicone.

9. Massage effector (10) intended to be fixed to the end of a robotic arm, said massage effector (10) comprising a fixing support arranged to be coupled to the end of said robotic arm, and a mechanical frame coupled to the fixing support characterized in that it is capable of receiving an envelope (16) according to any one of claims 1 to 8.

10. Massage robot comprising at least one robotic arm characterized in that said robotic arm is provided with a massage effector according to claim 9.

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