Percussive therapy device with active control

Abstract

To disclose the present invention that is generally related to a massage device, more specifically related to a percussive therapy device that performs reciprocating movements.SOLUTION: A percussive therapy device includes a housing, an electrical source, a motor positioned in the housing, a switch for activating the motor, and a routine controller configured to initiate a protocol configured to apply at least one output of the percussive therapy device in response to user input, and initiate at least one step of the protocol applied to the percussive therapy device in accordance with the at least one output.SELECTED DRAWING: Figure 36

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation-in-part of U.S. Provisional Application No. 16 / 796,143, filed February 20, 2020, which claims the benefit of U.S. Provisional Application No. 62 / 844,424, filed May 7, 2019, U.S. Provisional Application No. 62 / 899,098, filed September 11, 2019, and U.S. Provisional Application No. 62 / 912,392, filed October 8, 2019. This application is also a continuation-in-part of U.S. Provisional Application No. 16 / 675,772, filed November 6, 2019, which claims the benefit of U.S. Provisional Application No. 62 / 785,151, filed December 26, 2018. All of the above applications are incorporated herein by reference.

[0002] FIELD OF THEINVENTION The present invention relates generally to massage devices, and more particularly to percussive therapy devices that perform a reciprocating motion. Summary of the Invention [Problem to be solved by the invention]

[0003] Massage devices often provide ineffective massage that is superficial and provides no real benefit. Therefore, there is a need for an improved massage device. Furthermore, percussive massage devices are often used in an ineffective manner. Therefore, there is a need to automate percussive therapy devices to provide effective massage or recovery. [Means for solving the problem]

[0004] According to a first aspect of the present invention, there is provided a percussive therapy device or massage machine comprising a housing, a power source, a motor disposed in the housing, a switch for activating the motor, and a routine controller configured to initiate a protocol configured to apply at least one output of the percussive therapy device in response to a user input and to initiate at least one step of the protocol to be applied to the therapy device according to the at least one output. It is understood that the terms percussive massage device and percussive therapy device are used interchangeably throughout. These terms are synonymous and generally have the same meaning. Commercial embodiments of Applicant's device are commonly referred to in the market as percussive therapy devices, and therefore this term will be used herein.

[0005] In a preferred embodiment, the at least one output comprises one or more of the duration of operation of the percussive therapy device (by turning it on and off automatically or via user prompts), the speed of the attachment of the percussive therapy device (by switching from one speed to another automatically or via user prompts), the force applied by the attachment (by the user using the device), the amplitude of the attachment, and the temperature of the attachment.

[0006] In a preferred embodiment, the percussive therapy device includes a force meter configured to monitor and display the force applied by an attachment of the percussive therapy device, the force display being provided to a user and configured to allow the user to adjust the force to correspond to a target force (which may be defined to include a range of target forces) to be applied during at least one step of the protocol.

[0007] In a preferred embodiment, the percussive therapy device has or is configured to communicate with an application (software application or app) configured to provide a user interface (e.g., on a user mobile device such as a phone or tablet). Preferably, the percussive therapy device has or provides a touch screen configured to provide a user interface. In a preferred embodiment, the user is prompted to use a designated grip on the percussive massage device (e.g., visually, audibly or tactilely via the app, visually, audibly or tactilely on a touch screen of the percussive therapy device, or via a separate screen or audibly).

[0008] In a preferred embodiment, the user is prompted (e.g., visually, audibly, or tactilely) to apply the attachment of the percussive therapy device to the designated body part. Preferably, the user is prompted (e.g., visually, audibly, or tactilely) to set the arm position of the percussive therapy device. The percussive therapy generally prompts the user to apply at least one output via at least one of haptic feedback, sound, visual representation (e.g., image, graphics, etc.), and text during at least one step. In a preferred embodiment, the user is prompted (e.g., visually, audibly, or tactilely) to move the attachment from a start point to an end point of the designated body part during at least one step of the protocol.

[0009] According to another aspect of the present invention, there is provided a method of executing a routine of a percussive therapy device, the method comprising initiating a protocol configured to apply at least one output of the percussive therapy device in response to a user input, and executing at least one step of the protocol in which the percussive therapy device is applied according to the at least one output. In a preferred embodiment, the at least one output comprises one or more of a duration of actuation of the percussive therapy device (automatically or by a user), a speed of attachment of the percussive therapy device, a force of attachment, an amplitude of attachment, a type of attachment, a temperature of attachment, an arm position of the percussive therapy device, and a grip of the percussive therapy device.

[0010] In a preferred embodiment, the method includes monitoring a force applied by an attachment of the percussive therapy device and displaying the force to a user. Preferably, the force is configured to be displayed to the user so that the force can be adjusted to correspond to a target force (which may be a range) predetermined by at least one step of the protocol. Preferably, the user is prompted to apply one or more of the at least one output during at least one step of the protocol. In a preferred embodiment, the user input initiates the protocol via at least one of an application interface and a touch screen. In a preferred embodiment, the protocol is configured to provide a therapeutic effect to one or more body parts of the user.

[0011] According to another aspect of the present invention, a method of executing a routine of a percussive therapy device is provided, the method comprising initiating a protocol configured to apply at least one output of the percussive therapy device in response to a user input, and initiating at least one step of the protocol in which the percussive therapy device is applied according to the at least one output, the at least one output comprising one or more of a duration of actuation of the percussive therapy device, a speed of an attachment of the percussive therapy device, an amplitude of the attachment, a force applied by the attachment, and a temperature of the attachment, the percussive therapy device is configured to prompt a user to use a designated grip of the percussive therapy device and to apply an attachment of the percussive therapy device to a designated body part when initiating the protocol, monitor a measured force applied by the attachment, and display the measured force to the user so that the measured force can be adjusted to correspond to a target force by the at least one step of the protocol.

[0012] In a preferred embodiment, the user is prompted to set an arm position of the percussive therapy device, and / or the user is prompted to apply an attachment to a newly designated body part during at least one step of the protocol, and / or the user is prompted to attach a new attachment to the percussive therapy device during at least one step of the protocol, and / or the user is prompted to move an attachment from one predetermined point on a body part to a second predetermined body part during at least one step of the protocol.

[0013] According to another aspect of the present invention, there is provided a percussive therapy device comprising a housing, a power source, a motor disposed in the housing, a switch for activating the motor, and a push rod assembly operatively connected to the motor and configured to reciprocate in response to activation of the motor. In a preferred embodiment, the housing has a first handle portion, a second handle portion, and a third handle portion, which cooperate to define a handle opening, and a head portion. The first handle portion defines a first axis, the second handle portion defines a second axis, and the third handle portion defines a third axis, and the first axis, the second axis, and the third axis cooperate to form a triangle. The motor is disposed in the head portion of the housing, and at least a portion of the push rod assembly extends outside the head portion. In a preferred embodiment, the first handle portion is generally straight, the second handle portion is generally straight, and the third handle portion is generally straight.

[0014] In a preferred embodiment, the percussive therapy device has a wireless connection device (e.g., Bluetooth, etc.) for connecting to a remote device. Remote means that the device is separate from the percussive therapy device. The device does not have to be far away to be remote. Preferably, the power source is an optional rechargeable battery, and the percussive massage device further has an optional wireless receiver in electrical communication with the battery. Preferably, the percussive massage device has an optional touch screen.

[0015] In a preferred embodiment, the motor is a brushless motor, a motor mount is disposed in the housing, the motor is secured to the motor mount, and the motor mount is secured to the housing. Preferably, the motor mount has a first side wall and a second side wall defining a motor mount interior. The motor is secured to the first side wall, and the second side wall is secured to the housing. In a preferred embodiment, the motor has a motor shaft extending into the motor mount interior through a protruding opening defined in the first side wall of the motor mount, and at least a portion of the push rod assembly is disposed within the motor mount interior.

[0016] In a preferred embodiment, the percussive therapy device includes an attachment connected to a distal end of a push rod assembly and a routine controller configured to initiate a protocol configured to provide user instructions for applying the attachment to a first body part along a first treatment path during a first time period and applying the attachment to a first body part or a second body part along a second treatment path during a second time period. Preferably, the user instructions are provided via a touch screen of the percussive therapy device or in an application on a remote electronic device. In a preferred embodiment, the percussive therapy device includes an attachment connected to a distal end of a push rod assembly and a routine controller configured to initiate a protocol configured to provide user instructions for applying the attachment to a first body part during a first time period and applying the attachment to a first body part or a second body part during a second time period. The routine controller is configured to reciprocate the attachment at a first speed during a first time period and at a second speed during a second time period.

[0017] In a preferred embodiment, the percussive therapy device includes a routine controller configured to initiate a protocol for operating the motor for at least a first period and a subsequent second period, during which the routine controller is configured to provide a first user instruction to perform a first task comprising at least one of treating a first body part, moving an attachment along a first treatment path, and connecting the first attachment to a distal end of a push rod assembly, and during the second period, the routine controller is configured to provide a second user instruction to perform a second task comprising at least one of treating a second body part, moving an attachment along a second treatment path, and connecting the second attachment to a distal end of a push rod assembly. The first user instruction may comprise an instruction to grasp one of the first handle position, the second handle position, and the third handle position, and the second user instruction may comprise an instruction to grasp the same or another of the first handle position, the second handle position, and the third handle position. Preferably, the first and second user instructions are provided via a touch screen of the percussive therapy device or in an application on a remote electronic device. The first user instructions may include instructions for applying a first target force (based on a force meter reading) and the second user instructions may include instructions for applying a second target force (based on a force meter reading).

[0018] In a preferred embodiment, the power source is a battery located in the second handle portion and a wireless receiver in electrical communication with the battery is located in the third handle portion.

[0019] According to another aspect of the present invention, there is provided a method of using a percussive therapy device, the percussive therapy device comprising a housing, a power source, a motor disposed in the housing, a switch for activating the motor, and a push rod assembly operatively connected to the motor and configured to reciprocate in response to activation of the motor. The method includes activating the motor using the switch, and gripping a first handle portion and massaging the first body part, alternatively gripping a second handle portion and massaging the first body part, alternatively gripping a third handle portion and massaging the first body part. In a preferred embodiment, the first handle portion defines a first axis, the second handle portion defines a second axis, and the third handle portion defines a third axis, the first axis, the second axis, and the third axis cooperatively forming a triangle. In a preferred embodiment, the method further includes gripping the second handle portion, massaging the second body part, and massaging the third body part.

[0020] According to another aspect of the present invention, there is provided a percussive massage device comprising a housing, a power source, a motor disposed in the housing, a switch for activating the motor, and a push rod assembly operatively connected to the motor and configured to reciprocate in response to activation of the motor. In a preferred embodiment, the housing has a first handle portion, a second handle portion and a third handle portion that cooperate to define a handle opening, the first handle portion defining a first axis, the second handle portion defining a second axis, and the third handle portion defining a third axis, the first axis, the second axis and the third axis cooperatively forming a triangle.

[0021] Preferably, the first handle portion includes a first handle portion inner edge and defines a length of the first handle portion that is sufficient for at least a portion of three fingers to extend into the handle opening and contact the first handle portion inner edge when the first handle portion is gripped by a user. Preferably, the second handle portion includes a second handle portion inner edge and defines a length of the second handle portion that is sufficient for at least a portion of three fingers to extend into the handle opening and contact the second handle portion inner edge when the second handle portion is gripped by a user. Preferably, the third handle portion includes a third handle portion inner edge and defines a length of the third handle portion that is sufficient for at least a portion of three fingers to extend into the handle opening and contact the third handle portion inner edge when the third handle portion is gripped by a user. In a preferred embodiment, the first handle portion is generally straight, the second handle portion is generally straight, and the third handle portion is generally straight. Generally, straight means that the majority of the handle portions are straight, but may include rounded edges or corners where different handle portions meet, or where handle portions meet flares or finger bumps, etc.

[0022] In a preferred embodiment, the switch has associated switch electronics and the power source is a battery housed in the second handle portion, the switch electronics housed in the first handle portion. Preferably, the motor is configured to rotate a pinion shaft having a pinion gear about a shaft rotation axis. The housing has a gear member operably engaged with the pinion gear and rotating about the gear rotation axis, the gear member disposed in the housing. The push rod assembly is operably connected to the gear member, and rotational motion of the pinion shaft is translated into reciprocating motion of the push rod assembly by engagement of the pinion gear with the gear member. The motor has a motor shaft extending outwardly, and a pinion coupling assembly disposed between the motor shaft and the pinion shaft. The pinion coupling has an upper connector operably connected to the motor shaft, a lower connector operably connected to the pinion shaft, and a cross coupling disposed between the lower connector and the upper connector. In a preferred embodiment, the lower connector has a body portion defining a central opening for receiving the motor shaft and first and second outwardly extending lower connector arms, the upper connector has a body portion defining a central opening for receiving the pinion shaft and first and second outwardly extending lower connector arms, and the cross coupling has radially extending ribs and first and second upper connector members operably engaging the radially extending ribs. Preferably, the upper and lower connectors comprise plastic and the cross coupling comprises an elastomer.

[0023] In a preferred embodiment, the gear member is disposed in a rotating housing rotatable between at least a first position and a second position. A gearbox housing containing the gear member is disposed in the rotating housing. The gearbox housing has a clearance slot having defined first and second ends. The push rod assembly extends through the clearance slot such that the push rod assembly moves within the clearance slot from adjacent the first end to adjacent the second end upon rotation of the rotating housing from the first position to the second position.

[0024] In a preferred embodiment, the push rod assembly includes a first rod portion having a proximal end and a distal end, and a second rod portion having a proximal end and a distal end. The proximal end of the first rod portion is operably connected to the motor. The adapter assembly is disposed between the first rod portion and the second rod portion. The adapter assembly enables the first rod portion to pivot relative to the second rod portion. Preferably, the adapter assembly includes an adapter member having a pocket that receives the distal end of the first rod portion. A pivot pin spans the pocket and extends through the distal end of the first rod portion. In a preferred embodiment, the adapter member has a protrusion that is received at the proximal end of the second rod portion.

[0025] According to another aspect of the present invention, there is provided a massage device having a housing, an electrical input, a motor, a switch in electrical communication with the electrical input and the motor and configured to selectively provide power from the electrical input to the motor, an actuation output operatively connected to the motor and configured to provide a reciprocating motion in response to actuation of the motor, and a treatment structure operatively connected to a distal end of the actuation output. The actuation output is configured to reciprocate the treatment structure at a frequency between about 15 Hz and about 100 Hz and an amplitude between about 0.15 inches and about 1.0 inches. The combination of amplitude and frequency provides efficient reciprocating motion of the treatment structure such that the treatment structure provides therapeutically beneficial treatment to a target muscle of a user.

[0026] In a preferred embodiment, the actuation output is configured to reciprocate the treatment structure at a frequency between about 25 Hz and about 48 Hz and an amplitude between about 0.23 inches and about 0.70 inches. In another preferred embodiment, the actuation output is configured to reciprocate the treatment structure at a frequency between about 33 Hz and about 42 Hz and an amplitude between about 0.35 inches and about 0.65 inches.

[0027] According to another aspect of the present invention, there is provided a percussive massage device with a force meter comprising a housing, a power source, a motor disposed in the housing, a switch for activating the motor, and a controller configured to obtain a voltage of the motor, generate a look-up table relating the voltage to a force applied by the percussive massage device, and display a force magnitude corresponding to the obtained voltage using the look-up table. In a preferred embodiment, the look-up table is generated by determining a maximum magnitude of force configured to be applied by the percussive massage device, determining a maximum magnitude of voltage configured to be applied to the percussive massage device from the power source, dividing the maximum magnitude of force into equal force increments, and dividing the maximum magnitude of voltage into equal voltage increments. The number of equal force increments and the number of equal voltage increments are the same. Preferably, the percussive massage device further comprises a battery pack and a display configured to represent the amount of force applied by the percussive massage device. In a preferred embodiment, the display comprises a series of LEDs. In a preferred embodiment, the percussive massage device has an organic light emitting diode screen.

[0028] In a preferred embodiment, the motor is a brushless direct current (BLDC) motor. Preferably, the percussive massage device includes a voltage sensing resistor electrically coupled to the BLDC motor and to the controller.

[0029] According to another aspect of the present invention, there is provided a method of displaying a force of a percussive massage device, comprising obtaining a voltage of a motor of the percussive massage device, generating a look-up table relating the voltage to a force applied by the percussive massage device, and displaying a force magnitude corresponding to the obtained voltage using the look-up table. Preferably, the look-up table relating voltage to force is linear. Preferably, the look-up table is generated by determining a maximum magnitude of force configured to be applied by the percussive massage device, determining a maximum magnitude of voltage configured to be applied to the percussive massage device from a power source, dividing the maximum magnitude of force into equal force increments, and dividing the maximum magnitude of voltage into equal voltage increments, wherein the number of equal force increments and the number of equal voltage increments are the same.

[0030] In a preferred embodiment, the method includes obtaining a maximum power supply voltage for the percussive massage device, setting the maximum power supply voltage to a maximum magnitude of voltage, dividing the maximum magnitude of voltage into equal voltage increments, where the number of equal force increments and the number of equal voltage increments are the same, generating an updated lookup table relating voltages to forces applied by the percussive massage device corresponding to a range of voltages determined by the maximum power supply voltage, and displaying a calibrated force magnitude corresponding to the power supply voltage using the updated lookup table. In a preferred embodiment, the method includes obtaining at least two power supply voltages each corresponding to a force magnitude determined from the displayed force magnitude, measuring the force applied by the percussive massage device using an external force meter for each of the at least two power supply voltages, and generating an updated lookup table relating voltages to forces applied by the percussive massage device corresponding to the measured force magnitudes.

[0031] In a preferred embodiment, the method includes displaying a calibrated force magnitude corresponding to the measured force magnitude using an updated look-up table, preferably the look-up table is updated for each force magnitude that can be displayed on the percussive massage device.

[0032] According to another aspect of the present invention, there is provided a method of displaying a force of a percussive massage device comprising obtaining a current magnitude of a battery pack of the percussive massage device, obtaining a voltage magnitude of the battery pack, determining a power magnitude using the current magnitude and the battery pack voltage magnitude, generating a look-up table relating power to a power magnitude applied by the percussive massage device, and displaying a force magnitude corresponding to the obtained power magnitude using the look-up table. In a preferred embodiment, the force magnitude is displayed utilizing a series of LEDs that are activated in response to the force magnitude. Preferably, the look-up table is generated by determining a maximum magnitude of power input to the percussive massage device, determining a minimum magnitude of power for the percussive massage device when no load is applied to the percussive massage device, determining a maximum magnitude of force configured to be applied by the percussive massage device from a power source, dividing the maximum magnitude of power into equal power increments, and dividing the maximum magnitude of force into equal force increments. The number of equal power increments and the number of equal force increments are the same.Preferably, the maximum magnitude of the power is the maximum active power magnitude derived from the total active power.

[0033] In a preferred embodiment, the method includes determining at least two force magnitudes using current and voltage measurements of the battery pack that correspond respectively to a force magnitude. The force magnitudes are determined from the displayed force magnitudes. For each of the at least two force magnitudes, an external force meter is used to measure the force applied by the percussive massage device and generate an updated look-up table relating power to the force applied by the percussive massage device corresponding to the measured force magnitudes. In a preferred embodiment, the method includes displaying a calibrated force magnitude corresponding to the measured force magnitudes using the updated look-up table. Preferably, the look-up table is updated for each force magnitude that can be displayed on the percussive massage device.

[0034] It is understood that the features of the present invention discussed herein may be used with any type of percussive massage device. For example, the force meter and other features taught herein may be used with the percussive massage devices disclosed in U.S. Patent No. 10,357,425 (the '425 patent) and U.S. patent application Ser. No. 16 / 675,772, both of which are incorporated herein by reference in their entireties.

[0035] In one embodiment, a non-transitory computer readable medium stores software instructions that, when executed by a processor, cause the processor to acquire a voltage of a motor of a percussive massage device, generate a look-up table relating the voltage to the force applied by the percussive massage device, and use the look-up table to display a magnitude of force corresponding to the acquired voltage.

[0036] In one embodiment, the lookup table is generated by determining a maximum magnitude of force configured to be applied by the percussive massage device, determining a maximum magnitude of voltage configured to be applied to the percussive massage device from a power source, dividing the maximum magnitude of force into equal force increments, and dividing the maximum magnitude of voltage into equal voltage increments, in one embodiment, the number of equal force increments and the number of equal voltage increments are the same.

[0037] In another embodiment, a non-transitory computer readable medium stores software instructions that, when executed by a processor, cause the processor to obtain a maximum power supply voltage of the percussive massage device; set the maximum power supply voltage to a maximum magnitude of voltage; divide the maximum magnitude of voltage into equal voltage increments, where the number of equal force increments and the number of equal voltage increments are the same; generate an updated lookup table relating voltages to forces applied by the percussive massage device corresponding to a range of voltages determined by the maximum power supply voltage; and display a calibrated force magnitude corresponding to the power supply voltage using the updated lookup table.

[0038] In another embodiment, a non-transitory computer readable medium stores software instructions that, when executed by a processor, cause the processor to obtain at least two power supply voltages, each corresponding to a force magnitude determined from the displayed force magnitude, measure the force applied by the percussive massage device using an external force meter for each of the at least two power supply voltages, and generate an updated lookup table relating voltages to the force applied by the percussive massage device corresponding to the measured force magnitudes.

[0039] In one embodiment, a non-transitory computer readable medium stores software instructions that, when executed by a processor, cause the processor to obtain a magnitude of current of a battery pack of a percussive massage device, obtain a magnitude of voltage of the battery pack, determine a magnitude of power using the magnitude of current and the magnitude of voltage of the battery pack, generate a look-up table relating power to a magnitude of power applied by the percussive massage device, and use the look-up table to display a magnitude of force corresponding to the magnitude of power obtained.

[0040] In one embodiment, the non-transitory computer readable medium stores software instructions that, when executed by the processor, cause the processor to determine at least two force magnitudes determined from the displayed force magnitudes using current and voltage measurements of the battery pack that each correspond to a force magnitude; for each of the at least two force magnitudes, measure the force applied by the percussive massage device using an external force meter; and generate an updated look-up table relating power to the force applied by the percussive massage device corresponding to the measured force magnitudes.

[0041] In a preferred embodiment, in one embodiment, power from a power source is converted into motion. In some embodiments, the motor is an electric motor. The electric motor may be any type of electric motor known in the art, including, but not limited to, a brushed motor, a brushless motor, a direct current (DC) motor, an alternating current (AC) motor, a mechanically commutated motor, an electronically commutated motor, or an externally commutated motor.

[0042] In some embodiments, the actuated output or output shaft reciprocates at a speed of about 65 Hz. In some embodiments, the actuated output reciprocates at a speed greater than 50 Hz. The reciprocating therapeutic device provides reciprocation at a speed ranging from 50 Hz to 80 Hz in some embodiments. In some embodiments, the actuated output has a maximum articulation rate between 50 Hz and 80 Hz. In another embodiment, the actuated output has an articulation rate between 30 Hz and 80 Hz. In a particular embodiment, the actuated output has an articulation rate of about 37 Hz. In one embodiment, the actuated output has an articulation rate of about 60 Hz. In a preferred embodiment, the actuated output articulates or reciprocates at a frequency between about 15 Hz and about 100 Hz. In a more preferred embodiment, the actuated output articulates or reciprocates at a frequency between about 25 Hz and about 48 Hz. In a most preferred embodiment, the actuated output articulates or reciprocates at a frequency between about 33 Hz and about 42 Hz. Any selected range within the specified ranges is within the scope of the present invention.

[0043] The actuation output may move through a predetermined range of reciprocating motion. For example, the actuation output may be configured to have an amplitude of 0.5 inches. In another embodiment, the actuation output may be configured to have an amplitude of a quarter inch. As will be appreciated by one of skill in the art, the actuation output may be configured to have any amplitude that is deemed therapeutically beneficial.

[0044] In some embodiments, the actuation output may be adjustable with a variable range of reciprocation. For example, a reciprocating treatment device may have an input to adjust the amplitude of the reciprocation from a quarter inch up to an inch. In a preferred embodiment, the actuation output moves with an amplitude between about 0.15 inches and about 1.0 inches. In a more preferred embodiment, the actuation output articulates or reciprocates with a frequency between about 0.23 inches and about 0.70 inches. In a most preferred embodiment, the actuation output articulates or reciprocates with a frequency between about 0.35 inches and about 0.65 inches. Any selected range within the specified ranges is within the scope of the present invention.

[0045] It is understood that the device operates most effectively within the combined frequency and amplitude ranges. In developing this invention, the inventors determined that if the frequency and amplitude of the device are above the ranges described above, it may cause pain, and if they are below the ranges, the device will be ineffective and will not provide effective therapeutic relief or massage. Only when the device operates within the combination of the disclosed frequency and amplitude ranges will the device provide efficient and beneficial treatment to the muscles targeted by the device.

[0046] In certain embodiments, the reciprocating therapeutic device has one or more components that adjust the speed of articulation of the actuation output in response to various levels of power provided at the power input. For example, the reciprocating therapeutic device may have a voltage regulator (not shown) for providing a substantially constant voltage to the motor over a range of input voltages. In another embodiment, the current provided to the motor may be adjusted. In some embodiments, the operation of the reciprocating therapeutic device may be limited in response to the input voltage falling below a preset value.

[0047] In a preferred embodiment, the percussive massage device comprises a brushless motor, which does not have gears and is understood to be quieter than a geared motor.

[0048] The device has a push rod or shaft that is directly connected to the motor by a pin. In a preferred embodiment, the push rod is L-shaped or has an arc shape. Preferably, the point where the push rod connects to the pin is offset from the reciprocating path that the distal end 40 of the push rod (and massage attachment) travels. This function is provided by the arc or L-shape. It should be understood that the push rod is designed so that the push rod 14 can transmit forces at least partially diagonally or arcuately along its shape rather than vertically so that the motor can be placed at or near the center of the device because otherwise a protrusion would be needed to offset the motor and hold (and center) the shaft. The arc allows the push rod to have a close clearance with the motor and allows the external housing to be smaller than similar prior art devices, thus allowing the sides of the device to be lowered even further. Preferably, two bearings are included at the proximal end of the push rod that connects to the motor to counter diagonal forces and prevent the push rod from contacting the motor as it moves. Included at the proximal end of the push rod is a motor that is connected to counteract oblique forces and prevents the push rod from moving and contacting the motor.

[0049] In a preferred embodiment, the device has a touch screen for stopping, starting, actuating, etc. The touch screen may have other functions. Preferably, the device has a thumb wheel or rolling button located near the touch screen / on / off button to allow the user to scroll or navigate through the various functions. Preferably, the device also includes a variable amplitude or stroke. For example, the stroke can be or can be varied between about 8-16 mm.

[0050] In a preferred embodiment, the device can be associated with and operated by an app or software running on a mobile device such as a phone, watch or tablet (or any computer). The app can connect to the device via Bluetooth or other connection protocols. The app can have any or all of the following features: Additionally, any of the features described herein can be added directly to the touch screen / scroll wheel or button(s) functionality of the device. If the user walks or is too far away from the device, the device will not function or operate. The device can be turned on and off using the app and the touch screen or buttons on the device. The app can control variable speed (e.g. anywhere between 1750-3000 RPM). A timer can be implemented to stop the device after a predefined time. The app can also have various treatment protocols associated with it. This allows the user to select the protocol or area of ​​the body they want to operate on. Once a protocol is selected to start, the device will run the routine. For example, the device may operate at a first RPM for a first period of time and then at a second RPM for a second period of time and / or at a first amplitude for a first period of time and then at a second amplitude. The routines may also have prompts (e.g., haptic feedback) to inform the user to move to a new body part. These routines or treatments may be related to recovery, increased blood flow, performance, etc. and each may have pre-programmed routines or protocols. The routines may prompt or instruct the user to switch positions of the treatment structure (AmpBITS) or the arms or rotating head. The prompts may include sounds, haptic feedback (e.g., vibration of the device or mobile device), textual instructions on the app or touch screen, etc. For example, the app may instruct the user to start with the ball treatment structure with the arms in position 2. The user then presses start and the device runs for a predetermined time at the first frequency.The app or device then prompts the user to begin the next step of the routine, instructing the user to change to the cone treatment configuration and place the arm in position 1. The user presses start again and the device runs at the second frequency for the predetermined time.

[0051] In a preferred embodiment, the app includes near field communication ("NFC") functionality or other functionality that allows the user's mobile device loaded with the app to scan an identifier such as a barcode or QR code that prompts the app to display predefined information such as the routines described above. During use, the user can tap or place the mobile device near an NFC tag (or scan a QR code) on the gym equipment, and the app will display customized instructions, content, or lessons for using the equipment through the device. For example, on a treadmill, when the user scans a QR code or NFC tag, the app will recognize that the user is about to use the treadmill. The app can provide instructions on how to use the equipment in combination with the treadmill, and can begin a preprogrammed routine for using the treadmill. For example, the user can be instructed to start with the left quad. Then, after a predefined time (e.g., 15 seconds), the device will vibrate or provide other haptic feedback. The user then switches to the left quad, and after the predefined time has elapsed, the device will vibrate again. The user may then begin using the treadmill. Any routine is within the scope of the present invention. In one embodiment, the device and / or app (i.e., a mobile device containing an app) may also communicate (such as via Bluetooth) with gym equipment (e.g., the treadmill).

[0052] The device may have a torque or force meter to inform the user of the amount of force they are applying. A display associated with the force meter shows the amount of force being applied to the muscle. The force meter allows for more accurate and effective treatment. The device has a torque measurement sensor and a display. Depending on the muscle the device is being used on and the benefit the user is trying to get (preparation, execution, recovery), different forces need to be applied. By having a torque sensor, the user can receive more accurate and personalized treatment. An app and touch screen can provide force information to the user. The force meter can be integrated into the routine and the user can be given feedback on whether the pressure is too much or too little. The device may have a heat sensor or thermometer that can determine the temperature of the user's muscle and provide feedback to the device and / or the app. Haptic feedback can also provide feedback for excessive pressure or force.

[0053] In a preferred embodiment, the percussive massage device has a motor mount for mounting a brushless motor to a housing and distributing forces from the motor to the housing when the motor is operated. The motor is secured to a first side of the motor mount and a second or opposite side of the motor mount is secured to the housing. The motor mount has a number of arms that space the motor from the housing and define a reciprocating space in which a push rod and associated components (such as a counterweight) reciprocate. A threaded fastener connects the motor mount to the housing. In a preferred embodiment, the damping members or legs are received on the shafts of threaded fasteners. Each of the damping members has an annular slot defined therein. The annular slots receive the housing. This prevents the threaded fasteners from directly contacting the housing and reduces sound due to vibration. The threaded fasteners are received in openings in tabs at the ends of the arms.

[0054] In a preferred embodiment, the motor is housed in a motor housing that is rotatable with the main housing. The motor housing is essentially equivalent to the gearbox housing of the related embodiment. In a preferred embodiment, the motor housing has opposing openings on the exterior that expose the motor on one side and the motor mount on the other side. The openings provide ventilation for the motor and allow the motor mount to be directly connected to the main housing.

[0055] In a preferred embodiment, the device has a touch screen and buttons for operating the device. For example, the device may have a touch screen, a center button for turning the device on and off, and a ring / rocker button that provides the ability to scroll left / right (e.g., for preset operations as described herein) and scroll up / down (e.g., to control speed or frequency). The screen may also be a non-touch screen.

[0056] In another preferred embodiment, any of the instruments taught herein can have the ability to vary the amplitude, thus providing longer or shorter strokes depending on the user's application or needs. Amplitude variation can also be part of the routines or presets discussed herein. For example, the instrument can have a mechanical switch that allows the eccentricity of the connector to be changed (e.g., between 4mm and 8mm). The mechanism can have a push button and a slider. The pin structure has a spring that returns to the locked position.

[0057] In a preferred embodiment, the device has a touch screen for stopping, starting, operating, etc. The touch screen may have other functions as well. Preferably, the device has a thumb wheel or rolling button located near the touch screen / on / off button to allow the user to scroll or navigate between the different functions.

[0058] The present invention can be more readily understood by reference to the accompanying drawings, in which: [Brief description of the drawings]

[0059] [Figure 1] FIG. 1 is a side view of a percussive massage device according to a preferred embodiment of the present invention. [Figure 1A] 2 is another side view of the percussive massage device of FIG. 1. [Diagram 2] FIG. 1 is a perspective view of a percussive massage device. [Diagram 3] FIG. 1 is a side view of a percussive massage device showing a user gripping a first handle portion. [Figure 4] FIG. 1 is a side view of a percussive massage device showing a user gripping the third handle portion. [Diagram 5] FIG. 2 is a side view of a percussive massage device showing a user gripping the second handle portion. [Figure 6] FIG. 1 is an exploded perspective view of a percussive massage device. [Figure 7] FIG. 2 is an exploded perspective view of a portion of the drive train components of the percussive massage device. [Figure 8] FIG. 2 is another exploded perspective view of a portion of the percussive massage device. [Figure 9] FIG. 2 is a perspective view of the drive train components of the percussive massage device. [Figure 10] FIG. 2 is a perspective view of a push rod assembly of the percussive massage device. [Figure 11] FIG. 1 is a perspective view of another percussive massage device. [Figure 12] FIG. 12 is a side view of the percussive massage device of FIG. [Figure 13] FIG. 1 is a side view of a percussive massage device showing some internal components in hidden lines. [Figure 14] FIG. 2 is an exploded perspective view of some of the internal components of the percussive massage device. [Figure 15] FIG. 1 is a perspective view of another percussive massage device. [Figure 16]FIG. 16 is a side view of the percussive massage device of FIG. 15. [Figure 17] FIG. 1 is a block diagram illustrating interconnected components of a percussive massage device with a force meter. [Figure 18] FIG. 1 is a circuit diagram of a microcontroller unit with pin outs according to one embodiment. [Figure 19] FIG. 2 is a circuit diagram used for battery voltage detection according to one embodiment. [Figure 20] FIG. 2 is a circuit diagram for detecting and measuring the voltage of a motor of a percussive massage device according to one embodiment. [Figure 21] 4 is a flow diagram illustrating a method for detecting a force applied by a percussive massage device according to a preferred embodiment. [Figure 22] 1 is a flow diagram illustrating a method for generating a look-up table relating voltage to force. [Diagram 23] 1 is a graph plotting a look-up table for use by a method for detecting force applied by a percussive massage device generated by relating voltage to force in accordance with a preferred embodiment; [Figure 24] 4 is a flow diagram illustrating a method for calibrating a lookup table according to a preferred embodiment. [Diagram 25] 1 is a graph plotting a look-up table generated by a method for detecting a force applied by a percussive massage device against a look-up table calibrated by using a method for calibrating a look-up table according to a preferred embodiment. [Figure 26] 1 is a flow diagram illustrating a method for calibrating a lookup table. [Figure 27] 1 is a graph plotting a lookup table after being calibrated in accordance with a preferred embodiment. [Figure 28] 4 is a flow diagram illustrating a method for detecting a force applied by a percussive massage device according to a preferred embodiment. [Figure 29]4 is a flow diagram illustrating a method for generating a look-up table relating power to force according to a preferred embodiment. [Diagram 30] 11 is a graph plotting a look-up table for use by a method of detecting generated force by relating power to force in accordance with a preferred embodiment. [Diagram 31] 4 is a flow diagram illustrating a method for calibrating a lookup table according to a preferred embodiment. [Diagram 32] 1 is a graph plotting a lookup table after it has been calibrated in accordance with a preferred embodiment. [Diagram 33] 1 is a perspective view of a percussive massage device according to a preferred embodiment of the present invention; FIG. [Diagram 34] FIG. 18 is a perspective view of the percussive massage device of FIG. 17 with a portion of the housing removed. [Diagram 35] FIG. [Diagram 36] FIG. 1 is a side view of a percussive massage device according to a preferred embodiment of the present invention. [Figure 37] FIG. 2 is another side view of the percussive massage device. [Figure 38] FIG. 1 is a side view of a percussive massage device showing a user gripping a first handle portion. [Figure 39] FIG. 1 is a side view of a percussive massage device showing a user gripping the third handle portion. [Diagram 40] FIG. 2 is a side view of a percussive massage device showing a user gripping the second handle portion. [Diagram 41] FIG. 19 is a perspective view of the percussive massage device of FIG. 18 with a portion of the housing removed. [Figure 42A] FIG. 2 is a cross-sectional view of a head portion and a motor. [Figure 42B] FIG. 2 is a cross-sectional view of a head portion and a motor. [Diagram 43] FIG. 34 is an exploded view of some of the internal components of the percussive massage device of FIG. 33. [Figure 43A]FIG. 2 is an exploded view of the motor and the motor mount. [Diagram 44] 1 is a chart showing the steps of Protocol 1 according to a method of performing a routine of a percussive massage device. [Diagram 45] 1 is a chart showing steps of a "shin splints" protocol with a method of performing a percussive massage device routine. [Figure 46A] A method for performing a routine for a percussive massage device. [Figure 46B] A method for performing a routine for a percussive massage device. [Figure 46C] A method for performing a routine for a percussive massage device. [Figure 46D] A method for performing a routine for a percussive massage device. [Figure 47] FIG. 13 is a front view of a graphical user interface showing the “Tech Neck” protocol. [Figure 48] FIG. 13 is a front view of a graphical user interface showing "Right Biceps." DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0060] Like numbers refer to like parts throughout the several views of the drawings.

[0061] The following description and drawings are illustrative and should not be construed as limiting. Numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. However, in certain instances, well-known or conventional details are not set forth in order to avoid obscuring the description. References to an embodiment of the present disclosure do not necessarily refer to the same embodiment, and such references refer to at least one of the embodiments.

[0062] References herein to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the disclosure. The appearances of the phrase "in one embodiment" in various places in the specification do not necessarily all refer to the same embodiment, nor are they separate or alternative embodiments mutually exclusive of other embodiments. Furthermore, it describes various features that may be exhibited by some embodiments and not by other embodiments. Similarly, it describes various features that may be requirements of some embodiments but not other embodiments.

[0063] The terms used in this specification generally have their ordinary meanings in the art, within the context of this disclosure, and in the specific context in which each term is used. Certain terms used to describe the disclosure are explained below or elsewhere in this specification to provide additional guidance to the practitioner regarding the description of the disclosure. For convenience, certain terms may be highlighted, for example, using italics or quotation marks. The use of highlighting does not affect the scope and meaning of a term, which is the same in the same context regardless of whether it is highlighted or not. It is understood that the same thing can be said in multiple ways.

[0064] Thus, alternative language and synonyms may be used for any one or more of the terms discussed herein. There is no special meaning whether or not a term is described in detail herein. Synonyms are provided for certain terms. The description of one or more synonyms does not exclude the use of other synonyms. The use of examples anywhere in this specification, including examples of any term discussed herein, is illustrative only and is not intended to further limit the scope and meaning of the disclosed or exemplified term. Similarly, the disclosure is not limited to the various embodiments provided herein.

[0065] Without intending to further limit the scope of the disclosure, examples of instruments, devices, methods and their related results according to the embodiments of the present disclosure are given below. Please note that for the convenience of the reader, titles or subtitles may be used in the examples, and this does not limit the scope of the disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure pertains. In the event of any conflict, the present document, including definitions, will take precedence.

[0066] It should be understood that terms such as "front", "rear", "upper", "lower", "side", "short", "long", "upper", "lower" and "rear" used herein are merely for ease of description and refer to the orientation of the components as shown in the figures. It should be understood that any orientation of the components described herein is within the scope of the present invention.

[0067] A number of embodiments are described herein, at least some of which provide apparatus, systems and methods for a reciprocating therapeutic device.

[0068] 1-10 show an embodiment of a percussive massage device 212 having a rechargeable battery (and replaceable or removable battery) 114. The device 212 is commercially referred to as G3PRO. As shown in FIGS. 1-1A, in a preferred embodiment, the percussive massage device 212 has three handle portions (referred to herein as a first handle portion, a second handle portion, and a third handle portion) that cooperate to define a central or handle opening. All of the handle portions are long enough to be configured to allow a person to grasp a particular handle portion to utilize the device. The ability to grasp the various handle portions allows a person to use the device from various angles on various body parts (when using the device on their own body) and thus reach body parts such as the back, which would not be possible without the three handle portions.

[0069] 1, the first handle portion 143 defines a first handle portion axis A1, the second handle portion 145 defines a second handle portion axis A2, and the third handle portion 147 cooperatively defines a third handle portion axis A3, cooperating to form a triangle. In a preferred embodiment, the battery 114 is housed in the second handle portion 145 and the motor 106 is housed in the third handle portion 147.

[0070] 3-5 show a user's hands gripping various handle portions. As shown in FIGS. 3-5, the length of each of the first, second and third handle portions is long enough so that a person with large hands can comfortably grip each handle portion with at least three or four fingers extending through the handle opening. In a preferred embodiment, the first handle portion 143 has an inner edge 143a, the second handle portion 145 has an inner edge 145a and the third handle portion 147 has an inner edge 147a, all of which cooperate to at least partially define the handle opening 149. As shown in FIG. 1, in a preferred embodiment, the first handle portion 143 has a finger projection 151 having a finger surface 151a that extends between the inner edge 143a of the first handle portion and the inner edge 147a of the third handle portion 147 and at least partially defines the handle opening 149. As shown in FIG. 3, during use, a user can place their index finger on the finger surface 151a. The finger bumps and finger surfaces provide feedback points or support surfaces when the user places their index finger on the surface to help the user control and comfort the use of the device. In a preferred embodiment, at least a portion of the finger surface 151a is straight (as opposed to the other "corners" of the handle opening 149, which are rounded) as shown in FIG.

[0071] FIG. 1A shows the preferred dimensions of the inner surface of the handle opening 149. It is understood that the inner surface includes a series of flat curved surfaces. H1 is the dimension of the inner edge 143a of the first handle portion 143 (the length of the first handle portion). H2 is the dimension of the inner edge 145a of the second handle portion 145 (the length of the second handle portion). H3 is the dimension of the inner edge 147a of the third handle portion 147 (the length of the third handle portion). H4 is the dimension of the finger surface 151a (the length of the finger projection). R1 ​​is the dimension of the radius between the inner edges 143a and 145a, and R2 is the dimension of the radius between the inner edges 145a and 147a. In a preferred embodiment, H1 is about 94 mm, H2 is about 66 mm, H3 is about 96 mm, H4 is about 12 mm, R1 is about 6.5 mm, and R2 is about 6.5 mm, which provides an arc length of about 10.2 mm. In this context, "about" is within 5 mm. In a preferred embodiment, the length of the inner edge of the handle opening is about 289 mm. The length of the inner edge of the handle opening can be between about 260 mm and about 320 mm for any combination of H1, H2, H3, H4, R1, and R2. It is understood that these dimensions are optimized so that a 95th percentile male can grasp any of the three handle portions with at least three, and preferably four, fingers extending through the handle opening to utilize the device. It is understood that any or all of surface R1 and surface R2 can be considered part of any of the three adjacent handle portions. As shown in Figures 1 and 1A, the finger surface 151a is straight and the inner surface of the first handle portion, the inner surface of the second handle portion, the inner surface of the third handle portion and the finger surface cooperate to define a quadrilateral having radii or rounded edges between each of the straight surfaces.

[0072] The device 212 also has multiple speed settings (preferably 1500 RPM and 2400 RPM, but can be any speed or frequency as taught herein). Additionally, while the RPMs are listed as specific numbers, it will be understood by those skilled in the art that due to manufacturing tolerances, the RPMs may vary during use. For example, at the 2400 RPM setting, the RPMs may actually vary between 2260 and 2640.

[0073] 6-10 show some of the internal and external components included in the processing device 212 (208 and 210) shown in FIGS. 1-5 and 11-16. As shown in FIG. 6, the percussive massage device 212 has a housing 101 comprised of a first housing half and a second housing half 103. An outer cover 213 and a top cover 215 are received in and connected to the first housing half 103 and the second housing half 103 via tabs 105 or other mechanisms or attachment methods (e.g., threaded fasteners, clips, adhesives, sonic welding, etc.). The percussive massage device 212 has a tambour door 217, a battery 114, an internal suspension ring 219, and a rotatable housing 44 (having a first rotatable housing half 44a and a second rotatable housing half 44b) that houses a gearbox 404.

[0074] As shown in FIG. 7, the device includes a pinion coupling assembly 216 disposed between the motor and the pinion shaft or shaft gear 117 (disposed on the shaft or pinion shaft 116). The pinion coupling assembly 216 is used to couple the motor to the gearbox such that there is no radial movement and torque is fully transferred with minimal vibration and noise. The pinion coupling assembly 216 preferably includes three separate components, a lower connector 218, a cross coupling 220, and an upper connector 222. In a preferred embodiment, the lower connector 218 includes a body portion 218a defining a central opening 218b that receives the motor shaft 248 and first and second lower connector arms 218c extending outwardly. The upper connector 122 includes a body portion 222a defining a central opening 122b that receives the pinion shaft 117 and first and second upper connector arms 222c extending outwardly. Preferably, the cross coupling 220 has radially extending ribs 220a that define a channel 220b. The first and second lower connector arms 218c and the first and second upper connector arms 222c are sized and shaped to be received in the channel 220b to operatively engage the radially extending ribs. In use, the motor shaft 248 rotates the pinion coupling assembly, which rotates the pinion shaft 117. These components cooperate to reduce noise and vibration. In a preferred embodiment, the lower and upper connectors are constructed from plastic and the cross coupling is constructed from an elastomer. In a preferred embodiment, the cross coupling 220 is constructed from rubber having a hardness that isolates vibrations generated by the motor while maintaining strength and efficiently transmitting torque (without significant energy dissipation). However, the materials are not limiting of the invention.

[0075] In a preferred embodiment, the pinion shaft 116 is received in and extends through bearings 224 and 225. Preferably, bearing 224 comprises a ball bearing (which provides radial support) and bearing 225 comprises a needle bearing (which provides radial support but can withstand higher temperatures). The pinion coupling assembly 216 is connected to the motor 106 and is housed in a motor mount 250 through which the motor shaft 248 extends. The motor mount 250 is connected to a gearbox mount 252, as shown in FIG. 9.

[0076] As shown in FIGS. 7-9, the gear box 404, in one embodiment, includes a gear member 304 and a reciprocator or push rod 230 / 310. Preferably, the gear member 304 has a shaft 246 extending therefrom to which the reciprocator 310 is connected. The gear box 404 may provide an attachment point for the gear member 304 and the reciprocator 310. The gear box 404 may limit the movement of the gear member 304 and the reciprocator to a particular direction or axis of rotation. The gear box 404 may be attached to the housing 101. In some embodiments, the gear box 404 is decoupled from the housing 101 by one or more compliant damping blocks 402.

[0077] As shown in Figures 6 and 8, in a preferred embodiment, a rubber cover may be provided to prevent the gearbox from transmitting vibrations to the housing. Additionally, an inner suspension ring 219 isolates the gearbox vibrations from the handle and processing structure. Preferably, the ring 219 is constructed of an elastomer and acts as a cushion to dampen vibrations between the rotating housing and the housing 101. In a preferred embodiment, the inner suspension ring 219 surrounds the outer radial surface of the body portion 62 (see seat surface 523 in Figure 8).

[0078] In one embodiment, the rotation of the actuation output or shaft 108 may be selectively locked and unlocked by a user. For example, a user may unlock the rotation of the shaft 108, rotate the actuation output 108 to a desired position relative to the housing 101, lock the rotation of the actuation output 108, and actuate the reciprocating device 100. FIG. 8 shows the components that enable rotation of the rotating housing 44 along with the push rod assembly 108 and associated components. The button 515 has radially extending teeth 515a and is outwardly biased by a spring 519 that surrounds and seats on a spacer 518 (preferably constructed of foam). The spring 519 seats against damping members 520 and 517, preferably constructed of rubber, to damp vibrations of the spring 519. The assembly also includes a gearbox cover 525 and a damping ring 521. The button 515 is biased outwardly by a spring 519 to a position that engages the teeth 515a with the teeth 516a that define the hoop 516 connected to the housing 101. Preferably, the hoop 516 has an inner plastic ring 516b and an outer plastic ring 516c that sandwich a rubber ring 516d to help dampen vibrations and reduce noise. The button 515 is movable between a first position in which the teeth 515a engage with the teeth 516a and a second position in which the teeth 515 do not engage with the teeth 516a. When the button 515 is in the first position, the rotating assembly 47 cannot rotate. When the button is pressed to the second position, the teeth 515a disengage from the teeth 516a, thereby allowing the entire rotating assembly 47 to rotate. The rotating housing 44 has a body portion 62 disposed in the housing and an arm portion 64 that extends outside the housing through the rotation space 60. The arm portion 64 rotates in a rotation space 60 defined in the housing 101. As shown in Figure 2, in a preferred embodiment, the equipment 212 has a tambour door 217 that opens in the rotation space 60 when the rotating assembly moves from the position shown in Figure 1 to the position shown in Figure 2. The tambour door 217 covers the slot 214. As shown in Figure 2, an arm cover 524 covers the arm portion 64 of the rotating housing 44.

[0079] As shown in FIG. 9, the gearbox housing 404 has a clearance slot 214 defined for the push rod assembly 108. The slot 114 is provided to allow the push rod assembly 108 to move freely while the rotating housing 44 articulates. The clearance slot 214 has a first end 214a and a second end 214b. As shown in FIG. 9, the push rod assembly 108 extends through the clearance slot 210. It will be appreciated that the push rod assembly 108 moves within the clearance slot 210 from its first end to its second end as the rotating housing 44 rotates from a first position to a second position.

[0080] As shown in Figures 8-10, in a preferred embodiment, the push rod assembly or output shaft 108 has two halves or rods with an adapter member 226 to help reduce noise and vibration. The adapter member 226 isolates vibrations generated in the gearbox and prevents them from being transmitted down the shaft to the treatment structure. The adapter member 226 may have anti-rotation tabs to protect the push rod from torque applied by the user during use. The first rod portion 230 (push rod or reciprocator 310) of the output shaft 108 has an opening 232 at its end that receives a pivot pin 234. The connection between the first rod portion 230 and the adapter member 226 has a bushing 227 with the pin 234 and an elastomeric material to dampen vibration. The end of the first rod portion 230 with the opening 232 is received in a pocket 229 in the adapter member 226. The pin 234 extends through an opening in the sidewall of the adapter member 226, the bushing 227, and the opening 232 to secure the first rod portion 230 to the adapter member 226. The adapter member 226 has a protrusion 231 that extends to be received in an opening 233 in the end of the second rod portion 236 to connect the adapter member 226 to the second rod portion 236. In another embodiment, the end of the second rod portion 236 can be received in the opening in the adapter member 226. In use, the size of the opening on the upper side of the pocket 229 allows the first rod portion to move side to side as the opening 232 pivots on the pin 234 and the first rod portion 231 reciprocates. This translates to a linear reciprocating motion of the second rod portion 236. Because the bushing 227 includes at least some elastomeric material, vibrations are dampened (noise is reduced) as the push rod assembly 108 reciprocates.

[0081] A ring 526 seats on and surrounds the bottom of arm portion 64 to help hold first housing half 44a and second housing half 44b together (see seat 64a in FIG. 8). A washer or guide member 527 is received in rotating housing 44 to provide stability and a path for the reciprocating push rod assembly or output shaft 108.

[0082] 9, in this embodiment, the first rod portion 230 or push rod assembly 108 extends through the clearance slot 210. It is understood that the term push rod assembly includes any of the embodiments described herein and can have a shaft with an adapter member that allows for pivoting between the two halves or can have a single shaft that does not include a pivot.

[0083] 9-10, in a preferred embodiment, the male connector 110 has alignment tabs 497 on each ball that mate with slots in the female opening. These tabs 497 aid in proper alignment with the treatment structure. See U.S. Patent Application Publication No. 2019 / 0017528, which is incorporated herein by reference in its entirety.

[0084] 11-16 show an embodiment of a percussive massage device similar to the percussive massage device 212 described above, but without a rotating assembly. The device 208 shown in FIGS. 11-14 is commercially referred to as G3. The device 210 shown in FIGS. 15-16 is commercially referred to as LIV. As shown in FIG. 13, in a preferred embodiment, the switch 104 has switch electronics 575 associated with it. The switch electronics 575 may include a printed circuit board (PCB) and other components, thereby allowing the switch 104 to activate the motor 106 and change the motor's speed and turn the device on and off, among other tasks. As shown in FIG. 13, in a preferred embodiment, the motor 106 is housed in the third handle portion 147, the battery 114 is housed in the second handle portion 145, and the switch electronics 575 is housed in the first handle portion 143. This configuration also applies to devices 210 and 212. 14 shows a cushion member 577 that surrounds the gearbox 404 and helps to dampen and reduce noise and vibration generated by the gearbox components. The cushion member 577 is similar to the internal suspension ring 219 of the equipment 212. However, the cushion member 577 is thicker and does not need to rotate because the rotating housings of the equipment 208 and 210 have been eliminated. The cushion member 577 has notches or channels 579 to allow clearance for components such as the push rod assembly and pinion shaft.

[0085] 17-35 show an embodiment of a percussive massage device with a force meter. FIG 17 is a block diagram showing the interconnected components of a percussive massage device with a force meter 700. In one embodiment, a percussive massage device with force meter 700 includes a microcontroller unit 701, a battery pack management unit 702, an NTC sensor 703, a charging management unit 704, a wireless charging management unit 705, a wireless charging receiving system 706, a voltage management unit 707 (5V 3.3V voltage management in the figure), a battery charging input 708 (20V 2.25A charging input in the figure), a display 709 (power / battery / speed display in the figure), a wireless control unit 710 (Bluetooth control in the figure), an OLED screen 711, an OLED screen control system 712, a motor 713, a motor drive system 714, a PWM speed setup unit 715, an overcurrent protection unit 716, and a power switch unit 717 (power on / off OLED screen SW in the figure). In the embodiment shown according to FIG. 17, each block in the figure is shown as an individual component. However, in alternative embodiments, the specific elements may be combined without departing from the scope of the present disclosure.

[0086] Microcontroller unit 701 in one embodiment is a microcontroller unit having a processor, memory and input / output peripherals, however in other embodiments microcontroller unit 701 is an STMicroelectronics STM32F030K6 series microcontroller unit, an STM32F030C8Thomas6 series microcontroller, an STM32F030CCT6 series microcontroller or an equivalent microcontroller.

[0087] Those skilled in the art will appreciate that the memory of the microcontroller unit 701 is configured to store machine-readable code for processing by the processor of the microcontroller unit 701. Various other configurations may exist, depending on whether a designer of a percussive massage device having a force meter 700 wishes to implement the machine-readable code in software, firmware, or both. In one embodiment, the machine-readable code is stored in the memory and configured to be executed by the processor of the microcontroller 701. In one embodiment, the machine-readable code is stored on a computer-readable medium.

[0088] The battery pack management unit 702, in one embodiment, is implemented in firmware or software and configured to be used in association with the microcontroller unit 701. In this embodiment, the firmware or software is configured to be stored in a memory (not shown) and retrievable by the microcontroller unit 701. The battery pack management unit 702 may be a combination of firmware, software, and hardware in another embodiment. The battery pack management unit 702 is coupled to an NTC sensor 703. The NTC sensor 703 is a negative temperature coefficient thermistor that the battery pack management unit 702 uses to sense the temperature of the battery pack. For example, the NTC sensor 703 is a thermistor having a B value of 3950 + / - 1% and a resistance of 10 kΩ. In another example, the resistance of the thermistor is 100 kΩ. Those skilled in the art will recognize that a thermistor is a resistor having a resistance that is temperature dependent. However, in other embodiments, the NTC sensor 703 may be another type of temperature detection device or element used in association with the battery pack management unit 702.

[0089] The power charging management unit 704, in one embodiment, is implemented in firmware or software and configured for use in conjunction with the microcontroller unit 701. Similar to the battery pack management unit 702, the firmware or software of the charging management unit 704 is configured to be stored in a memory (not shown) and retrievable by the microcontroller unit 701. The power charging management unit 704 may be a combination of firmware, software, and hardware in another embodiment. In various embodiments, the power charging management unit 704 is configured to charge the battery pack via a direct connection or an external charger, such as when configured to operate with a rechargeable battery.

[0090] The wireless charging management unit 705, in one embodiment, is coupled to the battery pack management unit 702 and to a battery charging input 708. In other embodiments, the battery or battery pack is charged using other conventional methods, such as, for example, charging the battery or battery pack using a wire or cord coupled to the battery charging input 708.

[0091] The wireless charging receiving system 706, in one embodiment, is coupled to the power charging management unit 704 and the display 709. The wireless charging receiving system 706 includes one or more of firmware, software, and hardware. In one embodiment, the wireless charging receiving system 706 is configured to receive information regarding battery capacity, charging metrics, and other information related to wireless charging, and pass the information to the power charging management unit 704. The wireless charging receiving system 706 preferably includes a wireless charging pad that is used to charge the percussive massage device with the force meter 700. Those skilled in the art will appreciate that various wireless charging devices can be used to wirelessly charge the percussive massage device with the force meter 700. As an example, the Qi wireless charging standard and related devices may be used to wirelessly charge the percussive massage device with the force meter 700.

[0092] The voltage management unit 707, in one embodiment, is a DC voltage regulator that steps down 5 volts to 3.3 volts power for use by the microcontroller unit 701. The voltage management unit 707 may perform additional functions to manage the 3.3 volts power used by the microcontroller unit 701. In one embodiment, the voltage management unit 707 is implemented using a series of electronic components, such as, for example, a resistor divider implementation using electronic components. In another embodiment, the voltage management unit 707 is a stand-alone voltage regulator module and / or device designed to step down the voltage from 5 volts to 3.3 volts. Those skilled in the art will appreciate the various techniques and devices available for stepping down 5 volts to 3.3 volts.

[0093] In one embodiment, the battery charging input 708 is an interface into which a wire or cord can be inserted to charge the percussive massage device with the force meter 700. For example, a standardized barrel connector is the battery charging input 708. In another example, the battery charging input 708 is a USB connector. Other more specialized charging methods may require other specific battery charging inputs than those listed above.

[0094] The display 709, in one embodiment, displays a series of LEDs that represent the amount of force applied by the percussive massage device with the force meter 700. In an alternative embodiment, the display 709 displays a series of LEDs that represent the current battery or battery pack charge of the percussive massage device with the force meter 700. In yet another embodiment, the display 709 displays a series of LEDs that indicate the current speed of the percussive massage device with the force meter 700. Those skilled in the art will recognize that even though LEDs are specified in the above embodiment, other embodiments that do not use LEDs, such as, for example, liquid crystal displays, OLEDs, CRT displays, or plasma displays, are within the scope of this disclosure. Those skilled in the art will appreciate that in embodiments that utilize batteries or battery packs, it may be advantageous to use a low power option to preserve battery power life. In one embodiment, the display 709 is a 128x64 pixel OLED display.

[0095] The wireless control unit 710 is a wireless connectivity device that may be implemented in a wireless microcontroller unit. In one embodiment, the wireless control unit 710 is a Bluetooth transceiver module configured to couple to a remote device via Bluetooth. In one embodiment, the Bluetooth module is a Bluetooth Low Energy (BLE) module configured to run in a broadcast mode. The wireless control unit 710 is coupled to the microcontroller unit 701. In one embodiment, the remote device is a smartphone with an embedded Bluetooth module. In an alternative embodiment, the remote device is a personal computer with a Bluetooth connection. In other embodiments, other wireless connection standards besides the Bluetooth wireless standard may be utilized. It is understood that the Bluetooth connection or other wireless connections may be described herein as being implemented in a wireless connectivity device. The wireless connectivity device may be a separate module, may be included in the MCU or other components of the device, or may be a separate chip. In summary, a percussive therapy device with a wireless connection means that the percussive massage device can be wirelessly connected to another electronic device (e.g., a phone, tablet, computer, computer, voice controlled speaker, regular speaker, etc.) One skilled in the art will appreciate that a low power wireless control module can be when the percussive massage device with force meter 700 utilizes a battery or battery pack.

[0096] In one embodiment, the OLED screen 711 and the OLED screen control system 712 are configured to display substantially the same information as the above referenced display 709. The OLED screen 711 is coupled to the OLED screen control system 511. The OLED screen control system 712 is coupled to the microcontroller unit 701, the OLED screen 711, and the power switch unit 717. In one embodiment, the display 709 and the OLED screen 711 may be redundant and only one or the other need be utilized.

[0097] The motor 713, in one embodiment, is a brushless direct current (BLDC) motor. The motor 713 and motor drive system 714, in one embodiment, are configured to vary the speed (i.e., rotational motion) that can be converted to reciprocating motion. In other embodiments, the motor 713 is a brushed DC motor, a brushed AC motor, or a brushless AC motor. One skilled in the art will appreciate that the selection of a brushless or brushed motor, or the selection of DC or AC, may vary depending on the application and intended size, battery power, and use.

[0098] The PWM speed setting unit 715, in one embodiment, is used to control the pulse width modulation utilized to drive the motor 713. The PWM speed setting unit 715 is coupled to the microcontroller unit 701 and the overcurrent protection unit 716. Those skilled in the art will appreciate that pulse width modulation is one way to vary the average power applied to the motor 713, thereby varying its speed as desired. In alternative embodiments, those skilled in the art will appreciate that there are various ways to vary the speed of a brushless DC motor. For example, the voltage to the motor 713 may be controlled by other non-PWM methods.

[0099] The overcurrent protection unit 716, in one embodiment, may be in the form of an integrated system-in-package to prevent damage caused by high current to the motor, hi other embodiments, the overcurrent protection unit 716 is implemented using a series of electronic components configured to protect the motor from excessively large currents.

[0100] The power switch unit 717, in one embodiment, is configured to turn on and off the percussive massage device having the force meter 700. The power switch unit 717 is coupled to the OLED screen control system 712 and the microcontroller unit 701. In one embodiment, the power switch unit 717 is the switch 404.

[0101] FIG. 18 shows a circuit diagram of the microcontroller unit 701 with pin outputs. In this embodiment, an STM32F030K6 series microcontroller unit is utilized. The circuit diagram shows +3.3 volts of power being provided to the VDD input of the microcontroller unit 701. Input PA3 is labeled "Motor_VOL", which is the voltage of the motor 713. Input PA2 is "bt_V", which is the voltage of the battery or battery pack. The microcontroller unit is configured to receive analog voltages at inputs PA2 and PA3 and convert them to digital voltages using an analog-to-digital converter in the microcontroller. In this embodiment, the analog-to-digital converter is a 12-bit ADC. Those skilled in the art will appreciate that other microcontrollers may utilize voltage detection and analog-to-digital converters to perform similar functions. In yet another embodiment, an analog-to-digital converter module separate from the microcontroller may be utilized.

[0102] Figure 19 shows the circuit diagram used for battery voltage detection. In this embodiment, the positive battery terminal 518, +BT, is coupled to a circuit consisting of a P-channel MOSFET 519, an N-channel MOSFET 520, a 0.1mF capacitor 521, 100kW resistors 522, 523, a 68kW resistor 524, a 68kΩ resistor 525, 1kΩ resistors 525, 526 and 10kΩ resistors 527, 528. This circuit is configured to provide an input analog voltage or bt_v to the microcontroller unit 701 of Figure 18. In other embodiments, the battery or battery pack voltage may be realized using a voltage reader coupled to the terminals of the battery or battery pack.

[0103] FIG. 20 shows a circuit diagram for detecting and measuring the voltage of the motor 713 of a percussive massage device. In this embodiment, a voltage sensing resistor 529 is coupled in parallel with the microcontroller unit 701 and coupled to the motor 713. In one embodiment, the voltage sensing resistor has a value of 0.0025v. The circuit shown in FIG. 20 is configured to provide a Motor_VOL input to the microcontroller unit 701 of FIG. 17. In one embodiment, the input analog voltage is amplified. In another embodiment, the voltage of the motor 713 is measured or detected using a separate set of electronic components or a stand-alone device and input to a microprocessor for use in a method to indicate force on the percussive massage device.

[0104] FIG. 21 is a flow diagram illustrating a method 800 of detecting a force applied by a percussive massage device according to a preferred embodiment. In step 802, a voltage magnitude V is obtained. In one embodiment, the voltage magnitude V is an analog voltage obtained by using the circuit disclosed in FIG. 17. In the circuit, a block curve signal from the motor 713 (i.e., a Hall effect sensor) is simulated in the circuit as a current using a resistor R placed in parallel with the microcontroller unit 701. In other embodiments, a voltage corresponding to a current operating speed of the motor 713 may be generated in various other ways. The voltage magnitude V may be input to the microcontroller unit 701, which converts the analog voltage to a digital voltage using an analog-to-digital converter such as that implemented in an STM32F030K6 microcontroller unit. The STM32F030K6 microcontroller unit converts the analog voltage magnitude to a digital code corresponding to a 12-bit ADC (i.e., 0 to 4096). The digital code represents a voltage magnitude corresponding to the original voltage magnitude V obtained.

[0105] In step 804, a lookup table relating voltage V to a magnitude of force F is generated. In one embodiment, the lookup table is generated using method 900 for generating a lookup table relating voltage to force. For example, the magnitude of force F may be expressed in pounds of force. In an alternative embodiment, the magnitude of force F may be expressed in newtons of force.

[0106] In step 806, a force magnitude F corresponding to the voltage magnitude V is displayed on the percussive massage device having the force meter 700. In one embodiment, a series of LED lights may be utilized to represent different amounts of force being applied by the percussive massage device having the force meter 700. Thus, as the force magnitude F increases, more LEDs in the series of LED lights are illuminated. Preferably, the series of LED lights consists of 12 LED lights.

[0107] 22 is a flow diagram illustrating a method 900 for generating a lookup table relating voltage to force. In step 902, a maximum magnitude of the force F MAX Determine the F MAX The magnitude of F may be determined by assessing the maximum desired force to apply using a percussive massage device with a force meter 700. As an example, MAX is 60 pounds of force.

[0108] In step 904, the maximum magnitude of the voltage V MAX Determine the V MAX The magnitude of V may be determined by evaluating the maximum theoretical voltage change possible by a percussive massage device with force meter 700. MAX is 1.8 volts.

[0109] In step 906, F MAX is divided into equal increments. Using the above example from step 902, a 60 pound force is divided into 60 1 pound increments.

[0110] In step 908, V MAX is divided into the same amount of increments as determined above in step 906. So, using the above example from step 904, 1.8 volts would be divided into 60 0.3 volt increments.

[0111] In step 910, a look-up table (LUT) is generated that relates increments in pounds of force to increments in voltage. This necessarily creates a linear relationship between force and voltage. Figure 23 is a graph plotting a LUT for use by the force detection method of Figure 21 that was generated using the particular example identified in Figure 22. The graph shows the forces calculated using method 900.

[0112] A problem may arise in that the assumption of the theoretical maximum voltage in step 904 of the method 900 is inaccurate: the maximum voltage available when using a percussive massage device with a force meter 700 may decrease over time, in other words the voltage of the battery or battery pack may decrease.

[0113] Therefore, a method 1000 of calibrating the LUT generated by method 900 may be advantageous. FIG. 24 is a flow diagram illustrating the method 1000 of calibrating the LUT. In step 1002, a battery pack voltage BV is acquired. In one embodiment, the battery pack voltage magnitude BV is an analog voltage acquired by using the circuit disclosed in FIG. 19. In the circuit, the battery pack voltage magnitude BV may be input to a microcontroller unit 701 that converts the analog voltage to a digital voltage using an analog-to-digital converter such as that implemented in an STM32F030K6 microcontroller unit. The STM32F030K6 microcontroller unit converts the analog voltage magnitude to a digital code corresponding to a 12-bit ADC (i.e., 0 to 4096). The digital code represents a voltage magnitude corresponding to the acquired original battery pack voltage magnitude BV.

[0114] In step 1004, V MAX to the BV output of the actual battery voltage magnitude. For example, a decrease from 1.8 volts to 1.74 volts would decrease by 0.6 volts. In step 1006, the LUT linear correlation is MAX 25 is a graph plotting the LUT calculated by method 1000 against a LUT calibrated using method 1000. The LUT resulting from method 1000 represents calibrated forces rather than calculated forces.

[0115] 26 is a flow diagram illustrating a method 1100 of calibrating the LUT. Method 1100 may be performed after method 900 or completely separate from method 900. In step 1102, the battery pack voltage BV is measured. In one embodiment, the measurement is performed without applying force from the percussive massage device with force meter 700. In one embodiment, the battery pack voltage BV is measured using an external voltmeter. In another embodiment, the battery pack and / or microcontroller unit 701 has a built-in solution for directly measuring the battery pack voltage BV.

[0116] In step 1104, a display of a percussive massage device having a force meter 700 indicating the force magnitude F is read to determine the force magnitude F that corresponds to the measured battery pack voltage BV.

[0117] In step 1106, a force meter is used to measure the actual force being applied. In one embodiment, the force meter is a push / pull force meter. Measuring the force directly allows for calibration of the LUT by comparing the indicated force magnitude F to the measured actual force. In step 1108, the LUT is updated with a calibrated force corresponding to the measured battery pack voltage BV. After step 1108, steps 1102-1106 are repeated for each successive voltage increment. In the embodiment shown according to method 900, steps 1102-1106 are repeated for each 3 volt increment. FIG. 27 is a graph plotting the LUT calculated by method 1100 after all 3 volt increments have been updated.

[0118] FIG. 28 is a flow diagram illustrating a method 1200 of detecting a force applied by a percussive massage device according to a preferred embodiment. In step 1202, a current magnitude C of the battery pack is obtained. In one embodiment, the current magnitude C is input to the microcontroller unit 701. In step 1204, a voltage magnitude BV of the battery pack is obtained. In one embodiment, the voltage magnitude BV is input to the microcontroller unit 701. In step 1206, power is calculated using the product of C and BV. In one embodiment, the microcontroller unit 701 is configured to calculate power by multiplying C and BV. In step 1208, a lookup table is generated that correlates a power magnitude P and a force magnitude F. In one embodiment, the lookup table is generated using the method 1300 for generating a lookup table that correlates power and force. For example, the power magnitude P may be expressed in watts. In alternative embodiments, the force magnitude F may be expressed in pounds of force or newtons of force.

[0119] In step 1210, a force magnitude F corresponding to the power magnitude P is displayed on the percussive massage device having the force meter 700. In one embodiment, a series of LED lights may be utilized to depict different amounts of force as the force is being applied by the percussive massage device having the force meter 700. Thus, as the force magnitude F increases, more LEDs in the series of LED lights are illuminated. Preferably, the series of LED lights consists of 12 LED lights.

[0120] 29 is a flow diagram illustrating a method 1300 for generating a lookup table relating power to force. In step 1302, the maximum magnitude of the power F MAX However, if the total effective power can be calculated, the theoretical maximum power magnitude is not a reasonable assumption. MAX ) may be determined using Equation 1.

number

[0121] Equation 2 may be used to calculate Total EP and then substitute into Equation 1.

number

[0122] In one embodiment, EP(Battery) is 85%, EP(PCBA) is 95%, and EP(Motor) is 75%. Therefore, using Equation 2, Total EP is 85%*95%*75%=60.5625%.

[0123] In this embodiment, P MAX As shown in Equation 3, the maximum voltage of the battery pack V MAX Max amperage C MAX Then, P MAX Substitute into Equation 1.

number

[0124] In this embodiment, V MAX is 16.8 volts, C MAX is 20 amperes. Therefore, P MAX is 336 watts.

[0125] Now, going back to equation 1, P MAX is 336 watts and Total EP is 60.5625%. MAX is 203 watts.

[0126] In step 1304, the minimum amount of power P MINIt will be appreciated by those skilled in the art that a no force (i.e., no load) force is other than zero. Thus, a P of 12 watts MIN Assume that P MIN It is also understood that the value of V corresponds to the rated power at no load. MAX and C MIN It may be derived from

[0127] In step 1306, the maximum magnitude of the force F MAX Determine the F MAX The magnitude of F may be determined by assessing the maximum desired force to apply using a percussive massage device with a force meter 700. MAX is 60 pounds of force.

[0128] In step 1308, the Total EP MAX In one embodiment, the Total EP MAX , P MIN Start with (12 watts) and divide by 3 watt increments for every pound of force. MAX is 60 pounds of force, is the total desired force output of the percussive massage instrument with Force Meter 700, and the calculated Total EP MAX It will be appreciated by those skilled in the art that 60 pounds of force is associated with 189 watts.

[0129] In step 1310, a LUT is generated that relates increments of force in pounds to increments of power in watts. This necessarily creates a linear relationship between force and voltage. Figure 30 is a graph plotting a LUT for use by the method of detecting force of Figure 28, generated using the particular example identified in Figure 25. The graph shows the forces calculated using method 1200.

[0130] Similar to method 900, a problem may arise in that the measured voltage of the battery pack measured in step 1204 of method 1200 is inaccurate. The maximum available voltage may decrease over time as the percussive massage device having the force meter 700 is used. In other words, the voltage of the battery or battery pack may decrease.

[0131] 31 is a flow diagram illustrating a method 1400 of calibrating the LUT. Method 1400 may be performed after method 900 or method 1200 or completely separate from method 900 or method 1200. In step 1402, a current magnitude C of the battery pack is obtained. In one embodiment, the current magnitude C is input to the microcontroller unit 701.

[0132] In step 1404, the battery pack voltage BV is measured. In one embodiment, the measurement is performed without applying force from the percussive massage device with the force meter 700. In one embodiment, the battery pack voltage BV is measured using an external voltmeter. In another embodiment, the battery pack and / or the microcontroller unit 701 has a built-in solution to directly measure the battery pack voltage BV. In step 1406, the power is calculated using the product of C and BV. In one embodiment, the microcontroller unit 701 is configured to calculate the power by multiplying C by BV.

[0133] In step 1408, a display of a percussive massage device having a force meter 700 displaying a force magnitude F is read to determine a force magnitude F corresponding to the calculated force. In step 1410, the force meter is used to measure the actual force being applied. In one embodiment, the force meter is a push / pull force meter. Measuring the force directly allows for calibration of the LUT by comparing the displayed force magnitude F to the measured actual force. In step 1412, the LUT is updated with a calibrated force corresponding to the measured power. After step 1412, steps 1402-1410 are repeated for each force or force increment. In the embodiment shown according to method 900, steps 1402-410 are repeated for each 3 watt increment. FIG. 32 is a graph plotting the LUT calculated by method 1400 after all 3 watt increments have been updated.

[0134] 33-35 show an exemplary percussive massage device 400 embodying features disclosed herein, particularly in FIGS. 17-48 (or FIGS. 1-16). In general, the percussive massage device 400 includes a housing 402, a power source or battery pack 404, a motor 406 disposed within the housing 402, and a switch 405 for activating the motor 406. The electronics (see printed circuit board 408 in FIG. 34) include a controller configured to obtain a voltage on the motor and generate a look-up table relating the voltage to the force applied by the percussive massage device, and a display that displays the magnitude of the force corresponding to the voltage obtained using the look-up table.

[0135] Figures 36-43A show further views of a percussive massage device 400. Figures 36 and 37 are similar to Figures 1 and 1A and show a percussive massage device 400 having a first handle portion 143, a second handle portion 145 and a third handle portion 147 which cooperate to define a handle portion 149. For an explanation of other reference numbers and features shown in Figures 36-40, see at least the description of Figures 1-5. All of the features and components described above with respect to a percussive therapy device or percussive massage device may be included in the percussive massage device 400.

[0136] As shown in Figures 41-43, in a preferred embodiment, the brushless motor 406 is located in the head portion 12. The percussive massage device 400 may have a rotatable arm that is part of the rotating housing 44. The motor 406 is located in the rotating housing 44 that is housed with the head portion 12 of the housing 101. In alternative embodiments, the rotation capability may be omitted.

[0137] In a preferred embodiment, the device has a push rod or shaft 14 directly connected to a shaft 16 that is rotated by a motor 406 and a motor shaft 21 extending therefrom. The shaft 16 can be part of a counterweight assembly 17 having a counterweight 19. In a preferred embodiment, the push rod 14 is L-shaped or has an arc shape, as shown in Figs. 42A-42B. Preferably, the point where the push rod 14 connects to the shaft 16 is offset from the reciprocating path traveled by the distal end 18 of the push rod 14 (and massage attachment 628). This function is provided by the arc or L-shape. It should be understood that the push rod 14 is designed such that it can transmit forces at least partially diagonally or in an arc along its shape rather than perpendicularly, so that the motor can be placed at or near the center of the device, otherwise a protrusion would be required to offset the motor and hold the shaft in the center. The arc allows the push rod 14 to have a tight clearance with the motor, as shown in Figures 42A and 42B, allowing the external housing to be smaller than similar prior art devices, thus making the profile of the device 400 lower. Figure 42A shows the push rod 14 at the bottom dead center of travel, and Figure 42B shows the push rod 14 at the top dead center of travel. Preferably, one or more bearings 20 are included at the proximal end of the push rod 14 that connects to the motor to resist oblique forces and prevent the push rod 14 from contacting the motor 406 as it moves. The bearings 20 are received in the shaft 16, and the threaded fastener 26 is received in a coaxial opening 16a in the shaft 16. The proximal end of the push rod 14 is received in the bearings 20. All of these components are shown in Figure 43.

[0138] As shown in FIG. 33, in a preferred embodiment, the device 400 has a touch screen 409 (also referred to herein as touch screen 1582 in connection with the method steps) and a button (or buttons) for operating the device (e.g., stopping, starting, operating, changing speed or amplitude, etc.). The touch screen 409 may have other functions. The device 400 may also have a thumb wheel or rolling button located near the touch screen / on / off button to allow the user to scroll or navigate through the various functions. Touch screen 409 for operating the device. In the embodiment shown in FIG. 33, the device 400 has a touch screen 409, a center button 404 for turning the device on and off, and a ring / rocker button 447 that provides the ability to scroll left and right (e.g., for preset operations as described herein) and up and down (e.g., for controlling speed or frequency). The screen can be a non-touch screen or can simply be used for display.

[0139] In another preferred embodiment, any of the devices taught herein can have the ability to vary the amplitude or stroke, thus providing longer or shorter strokes depending on the user's application or needs. For example, the stroke can be or can be varied between about 8-16 mm. In another embodiment, the stroke can be varied up to 25 mm or more. The variability of the amplitude / stroke can also be made part of the routines, presets or protocols described herein. For example, the device can have a mechanical switch that allows the eccentricity of the connector to be changed (e.g., between 4 mm and 8 mm). This mechanism can have a push button and a slider. The pin structure has a spring that can be returned to a locked position.

[0140] Similar to the percussive massage devices 208, 210 and 212 described above, in a preferred embodiment, the device 400 has a number of damping components made of elastomers or the like, and a damping vibration section to keep the device relatively quiet. For example, as shown in FIG 43, the device 400 has a damping ring 426 (similar to the inner suspension ring 219) that surrounds the rotatable housing 44 (having a first rotatable housing half 44a and a second rotatable housing half 44b) and helps to dampen vibration sounds between the rotatable housing and the outer housing 101.

[0141] As shown in Figs. 43 and 43A, the device 400 also preferably includes a motor mount 24 that secures the motor 406 in place and is secured to the housing 101 / 402. The motor 406 has a receiving member 28 having three projections 30 (which may include a number between 1 and 10) that are received in projection openings 32 defined in the motor mount 24 (in the first wall 38). A flange 34 extending from the motor mount 24 helps to hold the projections 30 in place. The motor 406 is preferably secured to the motor mount 24 via a threaded fastener or the like. The motor shaft 21 extends into a motor mount interior 36 defined between the first and second walls 38 and a side surface 40 that extends partway around the circumference. Located in the motor mount interior 36 are a counterweight assembly 17, a proximal end of the push rod 14 and associated components for converting rotation of the motor shaft 21 into reciprocating motion. The push rod 14 extends downward from inside the motor mount through a push rod opening 42 in the side surface 40. In a preferred embodiment, the motor mount 24 is directly connected to the housing 402 / 101 via a fastener 46 secured to a mounting member 48 of the housing (see FIG. 43A). It is understood that the term push rod assembly as used herein includes any or a combination of the components discussed herein that extend from a rotating motor shaft 21 or the like that provides reciprocating motion and has an attachment at its distal end, such as the push rod 14, the output shaft 108, the reciprocator 310, and the second rod portion 236. The push rod assembly includes a male connector 110 (and any associated components) or any other connector at the end of the reciprocating component that allows for the connection of an attachment used for massage or treatment.

[0142] Preferably, the device can be wirelessly charged. Figure 34 shows the wireless receiver 22 located in the third handle portion 147. In another embodiment, the wireless receiver 22 can be located in either the first handle portion 143 or the second handle portion 145 or in the head portion 12.

[0143] In a preferred embodiment, the device 400 can be associated with and operated by an app or software running on a mobile device such as a phone, watch or tablet (or any computer). The app can connect to the device 400 via Bluetooth or other wireless connection protocols. The app can have any or all of the following functions: Additionally, any of the functions described herein can be added directly to the touch screen / scroll wheel or button(s) function of the device. If the user walks or is too far away from the device, the device will not function or operate. The device can be turned on and off using the app and the touch screen or buttons of the device. The app can control a variable speed (e.g., anywhere between 1750-3000 RPM). A timer can be implemented to stop the device after a predefined time.

[0144] In a preferred embodiment, the device has different treatment protocols or routines associated with it, such as via an app or touch screen and other functional buttons. During the routine, the device can change various aspects or outputs of the device or make changes based on time, speed (frequency), amplitude (stroke), arm position, force, temperature, grip (i.e., handle portion for holding), attachment (e.g., cone, ball, damper, etc.), and body part. The device can also prompt the user (via app, touch screen, haptic feedback, or voice via speaker) to make these changes at certain points during the routine, e.g., change arm position, grip, attachment, change body part. Those skilled in the art will appreciate that depending on the particular design of the device, one or more of these outputs may be applicable, while in other devices all of the options described may be applicable.

[0145] When a protocol is selected to begin, the device executes a pre-programmed routine. For example, the device may operate at a first RPM for a first period of time and then at a second RPM for a second period of time and / or at a first amplitude for a first period of time and then at a second amplitude. The routine may also have prompts (such as haptic feedback) to inform the user to move to a new body part. These routines or treatments may relate to recovery, increased blood flow, performance, etc. and each may have a pre-programmed routine or protocol. These routines may also help promote certain activities such as sleep, interval training, stairs, post-run, post-workout, recovery, wellness, post-core exercises and high intensity (plyometric) training, among others. The routines may also help provide relief and recovery from ailments such as plantar fasciitis, "tech neck", muscle spasms, jet lag, sciatica, carpal tunnel, knots and shin splints, among others. The routine may prompt or instruct the user to switch positions of the attachment (e.g., attachment 628 shown in FIG. 40) or the arm or rotating housing. The prompt may include a sound, haptic feedback (e.g., vibration of the device or mobile device), textual instructions, or a visual representation such as a graphic or image on the app or touch screen. For example, the app may instruct the user to start with the ball attachment with the arm in position 2. The user then presses start and the device runs at a first frequency for a predetermined time. The app or device then prompts the user to begin the next step of the routine and instructs the user to change to a cone attachment and place the arm in position 1 (see, for example, arm positions in FIG. 38). The arm may have any number of positions, e.g., positions 1-10 or positions 1-3 or positions 1-2. FIGS. 38-40 show the arm in three different positions. The user presses start again and the device runs at a second frequency for a predetermined time.A protocol can be divided into steps, and at each step, various outputs are predetermined or specified.

[0146] In a preferred embodiment, the device 400 includes a housing 402 (or 101), a power source 114, a motor 406 disposed in the housing 402, a switch 405 (which can be either a touch screen 409, a rocker button 447, a button 404 or any other switch or button) for actuating the motor 406, and a routine controller 630. The device 400 is configured to connect with an attachment 628. The attachment can be, for example, the attachment 628 shown in FIG. 38. The attachment is attached to the male connector 110 such that the shaft or push rod assembly 108 moves the attachment relative to one another according to a specified amplitude. For example, the amplitude is shown in FIGS. 42A and 42B, where FIG. 42A shows the attachment at a maximum extension position and FIG. 42B shows the attachment at a minimum extension position. The distance between the maximum extension position and the minimum extension position can define the amplitude in one embodiment.

[0147] The attachment 628 can be a variety of attachments configured to provide therapeutic relief to specific parts of the body. For example, the attachment 628 can be a standard ball attachment (see U.S. Patent Application Publication No. 29 / 677,157, which is incorporated herein by reference in its entirety) that is intended for general use on both large and small muscle groups. The attachment 628 can be a cone attachment (see U.S. Patent Application Publication No. 849,261, which is incorporated herein by reference in its entirety) for pinpoint muscle treatment, trigger points, and small muscle areas such as the hands and feet. The attachment 628 can also be a damper attachment (see U.S. Patent Application Publication No. 29 / 676,670, which is incorporated herein by reference in its entirety) that is used for general use as well as tender or bony areas. The attachment 628 can also be a wedge attachment for use on the shoulder blades and IT bands (see U.S. Patent Application Publication No. 29 / 677,016, which is incorporated herein by reference in its entirety) used for "rubbing" and "flush" movements that help flush lactic acid from the muscles. The attachment 628 can be a large ball for large muscle groups such as the glutes and quads (see U.S. Patent Application Publication No. 29 / 677,016, which is incorporated herein by reference in its entirety). The attachment 628 can be a thumb attachment for use on trigger points and the lower back (see U.S. Patent Application Publication No. 850,639, which is incorporated herein by reference in its entirety). The attachment 628 can be a super soft attachment designed to provide therapeutic relief to sensitive areas including bones (see U.S. Patent Application Publication No. 29 / 726,305, which is incorporated herein by reference in its entirety). One of ordinary skill in the art will recognize that the attachments described herein are non-limiting and that other configurations of attachments, including various materials and shapes, may be utilized in accordance with this embodiment, such as spherical attachments, bifurcated attachments, flat attachments, or attachments of other shapes are all within the scope of the present invention.

[0148] The routine controller 630 is configured to execute routines in association with one or more specified protocols. The routine controller 630 may be, for example, the microcontroller unit 701 shown in FIG. 17. The routine controller 630 may also be a stand-alone microcontroller separate from the microcontroller 701. The routine controller may step through the various steps of a particular protocol designed to target specific muscle groups and provide a particular therapeutic effect, as described herein.

[0149] FIG. 44 is a table showing an example of a protocol according to a preferred embodiment. Protocol 1 is divided into four steps, each representing a specified time, speed, amplitude, attachment, force, temperature, and grip. In step 1, the device 400 is operated for 30 seconds at a speed of 1550 RPM. A routine controller 630 may be utilized to turn on the percussive massage device and achieve a speed of the attachment 628 of 1550 RPM. One skilled in the art will appreciate that the speed of the attachment 628 is directly proportional to the speed of the motor 406. The amplitude of the percussive massage device is set to 2 according to protocol 1. This may be translated into a specified distance that the attachment 628 will travel during use, as described above. Step 1 specifies a damper attachment attached to the device 400, a force of "1" applied by the device 400, and a temperature of 21 degrees Celsius applied to the attachment.

[0150] Those skilled in the art will appreciate that the force applied by device 400 depends on the pressure applied by the user in pressing the attachment against the person's body part. As described more fully herein, the force applied by device 400 may be a target force. In embodiments in which a user provides pressure to apply a particular force to a person's body part, routine controller 630 may adjust the output of device 400 to ensure that the force actually applied by the attachment is the target force. Routine controller 630 may be configured to provide feedback to the user to increase or decrease the pressure on the person's body part to meet the target force. Each of these embodiments is applicable to each step of a given protocol, including steps 2-4 below and steps 1-4 of the protocol shown in FIG. 45.

[0151] Step 1 specifies that grip 1 is used to operate the instrument 400. Grip 1 may be, for example, the grip shown on the first handle portion 143 shown in FIG. 39, also referred to as the "normal" or "standard" grip. Grip 2 may be, for example, the grip shown on the third handle portion 147 shown in FIG. 40, also referred to as the "reverse" grip. An "inverse" grip may be used on the third handle portion 147 (not shown). Grip 3 may be, for example, the grip shown on the second handle portion 145 shown in FIG. 41, also referred to as the "base" grip.

[0152] In step 2, protocol 1 specifies that instrument 400 is to be operated at 2100 RPM, an amplitude of "3", a force of "3", and a temperature of 26° C. for 15 seconds. Step 2 specifies that small ball attachment 628 is to be used and that grip 1 is to be used to operate instrument 400. Thus, step 2 specifies that the damper attachment of step 1 should be replaced with the small ball attachment, but the same grip is to be used.

[0153] In step 3, protocol 1 specifies that instrument 400 is to be operated for 30 seconds at 2200 RPM, an amplitude of "1", a force of "3", and a temperature of 29° C. Step 3 specifies that damper attachment 628 is to be used and that grip 1 is to be used to operate instrument 400. Thus, step 3 specifies that the small ball attachment of step 2 should be replaced with a damper attachment, but the same grips are to be used.

[0154] In step 4, protocol 1 specifies that the device 400 is to be operated at 2400 RPM, an amplitude of "4", a force of "2" and a temperature of 32°C for 45 seconds. Step 4 specifies that the large ball attachment is to be used and that the device 400 is to be operated using grip 1. Thus, step 4 specifies that the damper attachment of step 3 should be replaced with a large ball attachment, but the same grip is to be used. It is understood that protocol 1 is provided as an example to the reader of the many different outputs that can be provided or changed during the myriad of treatment protocols that can be developed. Furthermore, it is understood that any one or more of the outputs may be part of a protocol or routine and any of the outputs discussed herein may be omitted. For example, a protocol may include only time and velocity, only time, velocity and force, only time, velocity and grip, or any other combination of the outputs described herein.

[0155] 45 is a table showing an example of a "Shin Splints" protocol according to a preferred embodiment. Like Protocol 1, the Shin Splints protocol is divided into four steps, each of which indicates a specified time, speed, amplitude, attachment, force, temperature and grip, but also specifies the specific arm position and body part to apply the attachments to. In Step 1, the device 400 is operated for 1 minute at a speed of 1500 RPM, an amplitude of "1", a force of "2" and a temperature of 21°C. Step 1 specifies the use of the damper attachment 628 and the operation of the device 400 using grip 2 ("reverse") on the right shin.

[0156] Step 1 specifies that the arm positions 632, 634, 636 to be used are arm position 1. One skilled in the art will appreciate that the number of arm positions (e.g., 1, 2, 3, 4, etc.) are pre-determined arm positions intended to be used during a particular protocol. The part of the body to which the attachment 628 is applied is one of the factors in determining the optimal arm position. However, the arm position may be determined by the user and is not required to implement a protocol. As shown in FIG. 39, a "standard" grip may be utilized at arm position 632 to apply to a particular part of the body. As shown in FIG. 40, a "reverse" grip may be utilized at arm position 634 to apply to a particular part of the body. As shown in FIG. 41, a "base" grip may be utilized at arm position 636 to apply to a particular part of the body. One skilled in the art will appreciate that the arm positions 632, 634, 636 in combination with a particular grip 143, 145, 147 may vary depending on the application. One skilled in the art will appreciate that the configuration of the arm positions of the device 400 will depend on the particular device. For example, certain devices may allow the user to adjust the arm position while other devices may not allow the user to adjust the arm position, otherwise this procedure does not apply, in other embodiments this step may be performed during the execution of a step of a particular protocol.

[0157] In step 2, the shin splint protocol specifies operating the device 400 at 1500 RPM, an amplitude of "1", a force of "2", and a temperature of 21° C. for 1 minute. Step 2 specifies using the damper attachment 628 and operating the device 400 using grip 2 ("reverse") for the left shin. Thus, step 2 uses the same attachment, grip, and arm position as step 1, but is applied to the other shin.

[0158] In step 3, the shin splints protocol specifies that the device 400 is to be operated at 2000 RPM, an amplitude of "3", a force of "3" and a temperature of 24° C. for 1 minute. Step 3 specifies that the device 400 is to be operated using the damper attachment 628 and with grip 3 ("base") at arm position 1 on the right calf. Thus, step 3 requires the user to change grip from "reverse" to "base" but using the same attachment and arm position.

[0159] In step 4, the shin splints protocol specifies operating the device 400 at 2000 RPM, an amplitude of "3", a force of "3" and a temperature of 24° C. for 1 minute. Step 4 specifies using the damper attachment 628 and operating the device 400 using grip 3 ("base") on the left calf. Thus, step 4 uses the same attachments, grips and arm positions as step 1, but is applied to the other calf.

[0160] FIG. 46 is a series of flow diagrams (FIGS. 46A, 46B, and 46C) illustrating a method 1500 of executing a routine for a percussive massage device.

[0161] Figure 46A is a flow diagram illustrating an exemplary protocol initiation. In step 1502, Protocol 1 is initiated. Protocol 1 may be, for example, Protocol 1 shown in Figure 44 or the "Thin Splints" protocol shown in Figure 45. Those skilled in the art will appreciate that Protocol 1 shown in Figure 44 does not include all outputs specified in the Thin Splints protocol shown in Figure 45, and therefore not all steps of method 1500 apply to Protocol 1 shown in Figure 44.

[0162] In step 1504, the user is prompted to set the arm position to a designated arm position 632, 634, 636. The user may be a person using the device 400 on their own body or on another person's body. The arm position 632, 634, 636 designated in the shin splints protocol is, for example, arm position 1.

[0163] At step 1506, the user is prompted to use a designated grip or handle portion 143, 145, 147 of the device 400. A designated grip for the shin splints protocol is, for example, the third handle portion 147. As described herein, the grip may be changed depending on the particular protocol or step.

[0164] In step 1508, the user is prompted to attach the specified attachment to the device 400. As described herein, the attachment may vary depending on the particular protocol or step.

[0165] In step 1510, the method determines whether the arm positions 632, 634, 636 and grip positions 143, 145, 147 are properly configured and whether the attachment 628 is attached. Step 1510 may include prompting the user through haptic feedback, an application interface, or a touch screen (among other types of prompts) to proceed when the proper arm position, grip, and attachment are ready. In other embodiments, the device 400 may detect that the arm position and grip are proper and the attachment is attached before automatically proceeding. In one embodiment, step 1510 is repeated until the arm positions, grips, and attachments are ready.

[0166] FIG. 46B is a flow diagram showing exemplary step 1 of the protocol, which continues the method 1500 where FIG. 46A left off.

[0167] In step 1512, step 1 of the protocol is started, for example step 1 shown in Figures 44 and 45.

[0168] In step 1514, the method 1500 applies a specified time period (T1) during which the device 400 is actuated, an attachment speed, an attachment amplitude, an attachment force, and an attachment temperature. In one embodiment, one or more of these outputs of the device 400 are applied. These outputs may be applied by the routine controller 630. Those skilled in the art will appreciate that some of these outputs do not require the implementation of the device 400 on the body part by the user to be applied. For example, the duration, speed, amplitude, and temperature do not necessarily depend on the user applying pressure to the body part. On the other hand, the force applied by the attachment 628 requires the user to apply pressure to the body part to reach the target force (or target force range). Furthermore, the temperature may be altered depending on whether and which body part the attachment 628 is applied to. Thus, the temperature needs to be adjusted during application of the attachment 628 to reach the desired temperature predetermined by the protocol. In another embodiment, the temperature may be adjusted by the user.

[0169] After time period T1, the user may be prompted to change the attachment 628, arm positions 632, 634, 636 and / or grip positions 143, 145, 147. These outputs must be accomplished before starting step 2 of the protocol. In the shin splints protocol shown in FIG. 45, the attachment 628, arm positions 632, 634, 636 and grip positions 143, 145, 147 remain the same. In step 1516, after time period T1, the user is prompted to set the arm position to the designated arm position 632, 634, 636. The user may be a person using the device 400 on their own body or another person's body.

[0170] In step 1518, the user is prompted to use the designated grip 143, 145, 147 on the device 400. As described herein, the grip may be changed depending on the particular protocol or step.

[0171] In step 1520, the user is prompted to attach a specified attachment 628 to the device 400. As described herein, the attachment 628 may vary depending on the particular protocol or step.

[0172] In step 1522, the method determines whether the arm positions 632, 634, 636 and grip positions 143, 145, 147 are properly configured and whether the attachment 628 is attached. This step and all other similar steps are optional. Step 1522 may include prompting the user via haptic feedback, application interface or touch screen (among other types of prompts) to prompt the user to proceed to the next step in the routine and / or to continue when the proper arm position, grip and attachment are ready. In other embodiments, the device 400 may detect that the arm position and grip are proper and the attachment is attached before automatically continuing. In one embodiment, step 1522 is repeated until the arm position, grip and attachment are ready.

[0173] FIG. 46C is a flow diagram showing an exemplary step 2 of the protocol, which continues the method 1500 where FIG. 46B left off.

[0174] Step 2 of the protocol is started in step 1524. Step 2 is, for example, step 2 shown in Figures 44 and 45.

[0175] In step 1526, the method 1500 applies a specified period (T2) during which the device 400 is actuated, a speed of attachment, an amplitude of attachment, a force of attachment, and a temperature of attachment. In one embodiment, one or more of these outputs of the device 400 are applied. These outputs may be applied by the routine controller 630. Those skilled in the art will appreciate that some of these outputs do not require the implementation of the device 400 on the body part by the user to be applied. For example, the period, speed, amplitude, and temperature do not necessarily depend on the user applying pressure to the body part. On the other hand, the force applied by the attachment 628 requires the user to apply pressure to the body part to reach the target force. Furthermore, the temperature may be altered depending on whether and which body part the attachment 628 is applied to. Thus, the temperature needs to be adjusted during application of the attachment 628 to reach the desired temperature predetermined by the protocol. In another embodiment, the temperature may be adjusted by the user.

[0176] After time period T2, the user may be prompted to change the attachment 628, arm positions 632, 634, 636 and / or grip positions 143, 145, 147. These outputs must be realized before starting step 3 of the protocol. In the shin splints protocol shown in FIG. 45, the attachment 628, arm positions 632, 634, 636 and grip positions 143, 145, 147 remain the same, but the grip positions 143, 145, 147 are adjusted to a base grip. In step 1528, after time period T2, the user is prompted to set the arm positions to the designated arm positions 632, 634, 636. The user may be a person using the device 400 on their own body or another person's body.

[0177] Thus, steps 1528-1534 are performed substantially identically to steps 1516-1522. After step 1534, steps 3-4 are initiated substantially identically to steps 1-2. For example, steps 3 and 4 may be steps 3 and 4 of protocol 1 shown in FIG. 44 or steps 3 and 4 of the shin splints protocol shown in FIG. 45. Additionally, step 1534 may be omitted in devices where grip, arm position, or attachments cannot be detected by the device. In this embodiment, the given protocol simply moves from step 1 to step 2, prompting the user to make a change (whether or not the user actually makes a change).

[0178] As an alternative to Figure 46C, Figure 46D is a flow diagram showing alternative step 2 of the protocol. In alternative step 2, calibration of the force meter is performed.

[0179] Steps 1536 to 1538 are executed in substantially the same manner as steps 1524 to 1526 in step 2 described above.

[0180] At step 1540, the force being applied by the attachment 628 is monitored. In the embodiment shown in Figure 46D, the method 1500 utilizes a force meter 700 to monitor the actual force applied by the user.

[0181] At step 1542, the forces are displayed to the user. In one embodiment, the forces are displayed in an application interface 1584, such as a graphical user interface. In other embodiments, the application interface 1584, touch screen 1582, OLED screen 711, etc. may be used individually or in combination to display the forces.

[0182] In step 1546, the user is prompted to increase or decrease the force applied to the body part according to the protocol specified during T2. FIG. 48 illustrates a touch screen 1582 with an exemplary embodiment of a force display. A force display 1590 illustrates an exemplary embodiment of step 1546. The force display 1590 shows a series of force measurements over the course of the "Right Biceps" step of the protocol. A force display prompt 1592 is used to display a message to the user such as "Optimal Pressure: Well Done" when the force applied by the attachment 628 matches or corresponds to a target force predetermined by the protocol. In this embodiment, the force display prompt 1592 may recite "Increase Pressure" or the like when the measured force applied by the attachment 628 is lower than the target force predetermined by the protocol. As a result, when the measured force applied by the attachment 628 is higher than the target force predetermined by the protocol, the force display prompt 1592 may recite "Decrease Pressure" or the like. In this case, the user may adjust the pressure they are applying to the body part to increase or decrease the pressure according to the force display prompts 1592 so that the measured force is equal to or approximately equal to the target force.

[0183] After time period T2, the user may be prompted to change the attachment 628, arm positions 632, 634, 636 and / or grip positions 143, 145, 147. These outputs must be realized before starting step 3 of the protocol. In the shin splints protocol shown in FIG. 45, the attachment 628, arm positions 632, 634, 636 and grip positions 143, 145, 147 remain the same, but the grips 143, 145, 147 are adjusted to a base grip. In step 1528, after time period T2, the user is prompted to set the arm positions to the designated arm positions 632, 634, 636. The user may be a person using the device 400 on their own body or on another person's body.

[0184] Thus, steps 1548-1554 are performed substantially identically to steps 1516-1522. After step 1554, steps 3-4 are started substantially identically to steps 1-2. For example, steps 3 and 4 may be steps 3 and 4 of protocol 1 shown in FIG. 44 or steps 3 and 4 of the thin splints protocol shown in FIG.

[0185] 47 is a diagram of an example embodiment of an application interface 1584. At the top of the interface 1584, a protocol field 1556 is displayed to the user. In this embodiment, the protocol field 1556 is "Tech Neck." The protocol title 1556 also indicates the overall duration of the protocol.

[0186] The next portion of the interface 1584 shows the step fields 1558-1568 of the protocol that are displayed to the user. In this embodiment, the step fields identify the title of the step and the duration of the step. For example, the title of the step field 1558 is "Right Biceps" (where the treatment is delivered) and the duration of operation is "0:30 minutes."

[0187] The interface 1584 also includes a current step field 1570 that identifies a current step title 1570 , a grip title display 1572 and an attachment title display 1574 .

[0188] The interface 1584 also includes a time display 1576 and a time remaining display 1578 to show the user how much time has occurred during the step and how much time is remaining for the step. Finally, the interface 1584 includes a control field 1580 for playing, skipping back, and skipping forward from step to step.

[0189] As mentioned above, FIG. 46 shows a touch screen 1582 of a mobile device. The touch screen 1582 displays a graphic showing a start point 1586 "A" and an end point 1588 "B" (thereby defining a treatment path) that indicates to the user where to apply the attachment 628 to a specified body part. In FIG. 46, the display instructs the user to move the attachment from the lower right biceps to the upper right biceps (treatment path) during the current step. In some embodiments, during a single step, the user may be prompted or shown in a graphical user interface multiple treatment paths (or a first treatment path and a second treatment path) for the same body part / muscle or different body parts / muscles. For example, during the right biceps step, the user may be prompted or shown initially to move the device along the path shown in FIG. 47, but during the same 30 second step, the user may be prompted or shown a path parallel to the path shown in FIG. 47.

[0190] Although the operations of the method(s) herein have been described in a particular order, the order of the operations of each method may be changed so that certain operations may be performed in reverse order or so that certain operations may be performed at least in part concurrently with other operations. In alternative embodiments, instructions or sub-operations of separate operations may be performed intermittently and / or alternatingly.

[0191] Unless the context clearly dictates otherwise, throughout the specification and claims, terms such as "comprises" and "comprises" are to be construed in an inclusive sense, i.e., "having but not limited to," rather than an exclusive or exhaustive sense. As used herein, the terms "connected," "coupled," or any variation thereof, refer to any connection or coupling, direct or indirect, between two or more elements. The coupling of the connections between the elements can be physical, logical, or a combination thereof. Furthermore, the words "herein," "on," "under," and words of similar import, when used herein, refer to this specification as a whole and not to any particular portions of this specification. Where the context permits, words in the above detailed description of preferred embodiments using the singular or plural may each include the plural or singular. The word "or" referring to a list of two or more items covers the following interpretations of the word: any item in the list, all items in the list, and any combination of the list of items in the list.

[0192] Embodiments are contemplated in which any of the aspects, features, components or steps herein may be omitted and / or made optional. Furthermore, where appropriate, any of those aspects, features, components or steps discussed herein in connection with one aspect of the invention may be applied to another aspect of the invention.

[0193] The above detailed description of the embodiments of the present disclosure is not intended to be exhaustive or to limit the teachings to the precise form disclosed above. Specific embodiments and examples of the present disclosure have been described above for illustrative purposes, and various equivalent modifications are possible within the scope of the present disclosure, as those skilled in the relevant art will recognize. For example, although processes or blocks have been presented in a given order, alternative embodiments may perform the execution of a routine having steps or use a system having blocks in a different order, and some processes or blocks may be deleted, moved, added, subdivided, combined, and / or modified to provide alternative or subcombinations. Each of these processes or blocks may be implemented in various ways. Also, although processes or blocks are shown as being performed in series, these processes or blocks may be performed in parallel or at different times. Furthermore, the specific numerical values ​​described herein are merely examples, and alternative implementations may use different values, measurements, or ranges.

[0194] The above detailed description of the embodiments of the present disclosure is not intended to be exhaustive or to limit the teachings to the precise forms disclosed above. Specific embodiments and examples of the present disclosure have been described above for illustrative purposes, and various equivalent modifications are possible within the scope of the present disclosure, as those skilled in the relevant art will recognize. Furthermore, the specific numerical values ​​described herein are merely examples, and alternative implementations may use different values, measurements, or ranges. It is understood that any dimensions given herein are merely examples, and that neither the dimensions nor the descriptions are intended to limit the present invention.

[0195] The teachings of the disclosure provided herein may be applied to other systems, not necessarily those described above. Elements and acts of the various embodiments described above may be combined to provide further embodiments.

[0196] The above patents and applications and other references, including those that may be set forth in accompanying application documents, are incorporated herein by reference in their entirety. Aspects of the present disclosure may be modified, if desired, to employ the systems, functions, and concepts of the various references described above to provide further embodiments of the present disclosure.

[0197] These and other modifications may be made to the disclosure in light of the above detailed description of the preferred embodiment. The above description describes certain embodiments of the disclosure and describes the best mode contemplated, but no matter how detailed the above appears in the document, the teachings can be practiced in many ways. The details of the system are still included in the subject matter disclosed herein, but may vary considerably in their implementation details. As stated above, a particular term used when describing a particular feature or aspect of the disclosure should not be construed as meaning that the term is redefined herein to be limited to the particular characteristic, feature or aspect of the disclosure to which the term relates. In general, the terms used in the following claims should not be construed as limiting the disclosure to the particular embodiments disclosed herein, unless the above detailed description of the preferred embodiment expressly defines such terms. Thus, the actual scope of the disclosure encompasses not only the disclosed embodiments, but also all equivalent ways of implementing or practicing the disclosure based on the claims.

[0198] Although certain aspects of the disclosure are presented below in certain claim forms, the inventors contemplate various aspects of the disclosure in any number of claim forms. For example, only one aspect of the disclosure is recited as a means-plus-function claim under 35 U.S.C. 112, paragraph 6, other aspects may be implemented as means-plus-function claims or other forms that can be implemented in a computer-readable medium as well (claims intended to be treated under 35 U.S.C. 112, paragraph 6 have the term "means"). Thus, the applicants reserve the right to add additional claims after filing to pursue such additional claim forms for other aspects of the disclosure.

[0199] Thus, while illustrative embodiments of the present invention have been shown and described, it is to be understood that all terms used herein are descriptive rather than limiting, and that numerous changes, modifications, and substitutions may be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims

1. 1. A percussive therapeutic device, comprising: Housing and Power supply, a motor disposed in the housing; a switch for operating the motor; a push rod assembly operatively connected to the motor and configured to reciprocate in response to actuation of the motor; A percussive therapy device comprising:

2. 2. The percussive therapy device of claim 1, wherein the housing has a first handle portion, a second handle portion, and a third handle portion that cooperate to define a handle opening, and a head portion, the first handle portion defining a first axis, the second handle portion defining a second axis, and the third handle portion defining a third axis, the first axis, the second axis, and the third axis cooperate to form a triangle, the motor is disposed in the head portion of the housing, and at least a portion of the push rod assembly extends outside the head portion.

3. 3. The percussive therapy device of claim 2, wherein the first handle portion is generally straight, the second handle portion is generally straight, and the third handle portion is generally straight.

4. 10. The percussive therapy device of claim 1, further comprising a wireless connection device.

5. 10. The percussive therapy device of claim 1, wherein the power source is a rechargeable battery, and the percussive massage device further comprises a wireless receiver in electrical communication with the battery.

6. 10. The percussive therapy device of claim 1, further comprising a touch screen.

7. 2. The percussive therapy device of claim 1, wherein the motor is a brushless motor, a motor mount is disposed in the housing, the motor is secured to the motor mount, and the motor mount is secured to the housing.

8. 8. The percussive therapy device of claim 7, wherein the motor mount has a first side wall and a second side wall defining a motor mount interior, the motor being secured to the first side wall and the second side wall being secured to the housing.

9. 9. The percussive therapy device of claim 8, wherein the motor has a motor shaft extending into the motor mount through a protruding opening defined in the first side wall of the motor mount, and at least a portion of the push rod assembly is disposed within the motor mount.

10. 10. The percussive therapy device of claim 1, further comprising: an attachment connected to a distal end of the push rod assembly; and a routine controller configured to initiate a protocol configured to provide user instructions to apply the attachment to a first body part along a first treatment path during a first time period and to apply the attachment to the first body part or a second body part along a second treatment path during a second time period.

11. 11. The percussive therapy device of claim 10, wherein the user instructions are provided via a touch screen of the percussive therapy device or in an application on a remote electronic device.

12. 2. The percussive therapy device of claim 1, further comprising: an attachment connected to a distal end of the push rod assembly; and a routine controller configured to initiate a protocol configured to provide user instructions to apply the attachment to a first body part during a first time period and to apply the attachment to the first body part or a second body part during a second time period, the routine controller configured to reciprocate the attachment at a first speed during the first time period and at a second speed during the second time period.

13. 2. The percussive therapy device of claim 1, further comprising a routine controller configured to initiate a protocol for operating the motor for at least a first time period and a subsequent second time period, wherein during the first time period, the routine controller is configured to provide first user instructions to perform a first task comprising at least one of treating a first body part, moving an attachment along a first treatment path, and connecting a first attachment to a distal end of the push rod assembly, and during the second time period, the routine controller is configured to provide second user instructions to perform a second task comprising at least one of treating a second body part, moving the attachment along a second treatment path, and connecting a second attachment to the distal end of the push rod assembly.

14. 14. The percussive therapy device of claim 13, wherein the first user command comprises at least one of treating the first body part, moving the attachment along the first treatment path, connecting the first attachment to a distal end of the push rod assembly and grasping one of a first handle position, a second handle position, and a third handle position, and the second user command comprises at least one of treating the second body part, moving the attachment along the second treatment path, connecting the second attachment to a distal end of the push rod assembly and grasping one of the first handle position, the second handle position, and the third handle position.

15. 14. The percussive therapy device of claim 13, wherein the first user command comprises at least one of treating the first body part, moving the attachment along the first treatment path, connecting the first attachment to a distal end of the push rod assembly, and applying a first target force, and the second user command comprises at least one of treating the second body part, moving the attachment along the second treatment path, connecting the second attachment to a distal end of the push rod assembly, and applying a second target force.

16. 14. The percussive therapy device of claim 13, wherein the first user instructions and the second user instructions are provided via a touch screen of the percussive therapy device or in an application on a remote electronic device.

17. The percussive therapy device of claim 2, wherein the power source is a battery disposed in the second handle portion, and a wireless receiver that electrically communicates with the battery is disposed in the third handle portion.

18. 1. A percussive massage device, comprising: Housing and Power supply, a motor disposed in the housing; a switch for operating the motor; a routine controller configured to initiate a protocol configured to apply at least one output of the percussive massage device in response to a user input and to initiate at least one step of the protocol to be applied to the percussive massage device in accordance with the at least one output; A percussive massage device comprising:

19. 20. The percussive massage device of claim 18, wherein the at least one output comprises one or more of a duration of operation of the percussive massage device, a speed of an attachment of the percussive massage device, a force applied by the attachment, an amplitude of the attachment, and a temperature of the attachment.

20. 20. The percussive massage device of claim 18, further comprising a force meter configured to monitor and display the force applied by an attachment of the percussive massage device, wherein an indication of the force is provided to a user so that the user can adjust the force such that it corresponds to a target force to be applied during at least one step of the protocol.

21. 20. The percussive massage device of claim 18, further comprising an application configured to provide a user interface.

22. 20. The percussive massage device of claim 18, further comprising a touch screen configured to provide a user interface.

23. 20. The percussive massage device of claim 18, which prompts a user to use a designated grip on the percussive massage device.

24. 20. The percussive massage device of claim 18, which prompts a user to apply the percussive massage device attachment to a designated body part.

25. The percussive massage device of claim 18 , further comprising: a first arm that is adapted to receive a first massage arm and a second arm that is adapted to receive a second massage arm.

26. 20. The percussive massage device of claim 18, further comprising: a user prompting device for applying said at least one output during said at least one step via at least one of haptic feedback, sound, visual representation, and text.

27. 20. The percussive massage device of claim 18, prompting a user to move an attachment from a start point to an end point of a designated body part during said at least one step of said protocol.

28. 1. A method of implementing a routine for a percussive massage device, comprising: initiating a protocol configured to apply at least one output of the percussive massage device in response to a user input; performing at least one step of a protocol in which the percussive massage device is applied according to the at least one output; A method for providing the above.

29. 30. The method of claim 28, wherein the at least one output comprises one or more of a duration of operation of the percussive massage device, a speed of the attachment of the percussive massage device, a force of the attachment, an amplitude of the attachment, a type of the attachment, a temperature of the attachment, an arm position of the percussive massage device, and a grip of the percussive massage device.

30. monitoring the force exerted by an attachment of the percussive massage device; displaying the force to a user; 30. The method of claim 28, further comprising:

31. 31. The method of claim 30, wherein the force is configured to be displayed to a user so that the force can be adjusted such that the force corresponds to a target force predetermined by the at least one step of the protocol.

32. 30. The method of claim 28, further comprising prompting a user to apply one or more of the at least one output during the at least one step of the protocol.

33. 30. The method of claim 28, wherein the user input initiates the protocol via at least one of an application interface and a touch screen.

34. 30. The method of claim 28, wherein the protocol is configured to provide a therapeutic effect to one or more body parts of a user.

35. 1. A method of implementing a routine for a percussive massage device, comprising: initiating a protocol configured to apply at least one output of the percussive massage device in response to a user input; initiating at least one step of a protocol in which the percussive massage device is applied according to the at least one output, the at least one output comprises one or more of a duration of operation of the percussive massage device, a speed of an attachment of the percussive massage device, a force applied by the attachment, and a temperature of the attachment; the percussive massage device prompting a user to use a designated grip of the percussive massage device and to apply the attachment of the percussive massage device to a designated body part upon initiating the protocol; monitoring a measured force exerted by the attachment; displaying the measured force to a user, the measured force being configured to display the force to the user so that the user can adjust the applied force such that the force corresponds to a target force by the at least one step of the protocol; A method for providing the above.

36. 36. The method of claim 35, further comprising prompting a user to set an arm position of the percussive massage device.

37. 36. The method of claim 35, further comprising prompting a user to apply the attachment to a newly designated body part during the at least one step of the protocol.

38. 36. The method of claim 35, further comprising prompting a user to attach a new attachment to the percussive massage device during the at least one step of the protocol.

39. 36. The method of claim 35, further comprising prompting a user to move the attachment from one predetermined point on a body part to a second predetermined body part during the at least one step of the protocol.

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