Massage machine

Abstract

To provide a massage machine which detects whether or not legs of a person to be treated contact a mount part, without arranging sensors on parts where the legs contact.SOLUTION: A massage machine 100 comprises: a mount part 1 on which legs of a person to be treated who is seated, are mounted; a first movement mechanism 4 which moves the mount part 1 along a lower thigh portion of the person to be treated; first sensor parts 5, 5a for detecting a position and movement of the mount part 1 in a first direction H0 where the mount part 1 moves; and a control part 107 which controls the first movement mechanism 4 on the basis of detection results of the first sensor parts 5, 5a. The control part 107 determines whether or not the legs contact the mount part 1, on the basis of a change of a movement speed of the mount part 1, and when it is determined that the legs contact the mount part 1, stops the movement of the mount part 1.SELECTED DRAWING: Figure 4B

Description

Technical Field

[0001] The present invention relates to a massager.

Background Art

[0002] Conventionally, there is known a massager that detects whether a foot is placed on a placement part (for example, a placement portion) of an ottoman by arranging a sensor on the part where the foot is placed. For example, in Patent Document 1, a sole detection sensor for detecting whether the sole of the subject's foot is in contact with the sole contact portion of the leg placement portion is provided at the sole contact portion of the leg placement portion. The sole detection sensor is configured as a planar switch. The planar switch turns ON when the sole touches the sole contact portion and turns OFF when the sole leaves.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when a sole detection sensor such as a planar switch is arranged at the sole contact portion where the sole contacts, it becomes difficult to arrange a treatment element for treating the sole at the sole contact portion. Therefore, the degree of freedom in the layout of the treatment elements in the ottoman is reduced. In addition, when a heating element is arranged at the sole contact portion, the sole detection sensor may deteriorate due to heat and have a shortened lifespan.

[0005] In view of the above situation, an object of the present invention is to detect whether a foot is in contact with a placement portion without arranging a sensor at the portion where the foot contacts.

Means for Solving the Problems

[0006] In order to achieve the above object, a massage machine according to one aspect of the present invention includes a placement portion for placing the feet of a seated subject, a first moving mechanism for moving the placement portion along the lower leg of the subject, a first sensor portion for detecting the position and movement of the placement portion in a first direction in which the placement portion moves, and a control portion for controlling the first moving mechanism based on the detection result of the first sensor portion. The control portion includes a determination portion for determining whether or not a foot has come into contact with the placement portion based on a change in the moving speed of the placement portion, and a movement control portion for stopping the movement of the placement portion when the determination portion determines that a foot has come into contact with the placement portion.

[0007] Further features and advantages of the present invention will be further clarified by the embodiments shown below.

Effects of the Invention

[0008] According to the present invention, it is possible to detect whether or not a foot is in contact with the placement portion without arranging a sensor at the portion where the foot comes into contact.

Brief Description of the Drawings

[0009]

Figure 1

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Figure 4A

Figure 4B

Figure 5A

Figure 5B

Figure 6A

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Figure 11A

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Figure 12

Embodiments for Carrying Out the Invention

[0010] Embodiments of the present invention will be described below with reference to the drawings. In the following description, the "trunk" refers to the central part of the body other than the head, neck, and limbs. The "thigh" refers to the part from the hip joint to the knee. The "hip joint" refers to the joint part connecting the pelvis and the thigh bone (i.e., the femur). The "lower leg" refers to the part from the knee to the ankle. The "knee" refers to the joint part between the thigh and the lower leg. The "ankle" refers to the part where the bone protrudes in the left - right direction on both sides of the ankle. The "foot" refers to the part from the ankle to the tip (i.e., the toenail). The "sole" is the lower surface of the foot (the sole), which is the part that contacts the ground or the floor surface when standing barefoot, etc.

[0011] <1. First Embodiment> FIG. 1 is a schematic perspective view of a chair-type massage machine 100. Hereinafter, the chair-type massage machine 100 will be referred to as the "massage machine 100".

[0012] <1-1. Massage Machine 100> The massage machine 100 includes a seat part 101, a backrest part 102, a pair of left and right base parts 103, a pair of left and right armrest parts 104, and an ottoman 105.

[0013] A subject sits on the seat part 101. The seat part 101 supports the buttocks and thighs of the subject.

[0014] The backrest part 102 is erected with respect to the seat part 101 and supports the head, torso (for example, shoulders, waist, and back) of the subject. The backrest part 102 is rotatably attached to the rear end part of the seat part 101 around a reclining rotation axis J1 extending in the left-right direction. The backrest part 102 can be tilted backward by rotation around the reclining rotation axis J1. A treatment unit 1021 is arranged on the backrest part 102. The treatment unit 1021 can move up and down along the longitudinal direction (for example, the vertical direction) of the backrest part 102 and treats the back of the subject.

[0015] The base part 103 is erected on both sides in the left-right direction of the seat part 101 and supports the armrest part 104.

[0016] The armrest part 104 supports the forearms and hands of the subject. The pair of left and right armrest parts 104 have symmetrical shapes with respect to each other.

[0017] The ottoman 105 is pivotally supported in front of the seat part 101 and accommodates the lower leg and foot of the patient. In the present embodiment, the upper end portion of the ottoman 105 (for example, the pivot support portion 1051 described later) is pivotally supported at the front end portion of the seat part 101. However, this example does not exclude the configuration in which the ottoman 105 is pivotally supported by components other than the front end portion of the seat part 101. For example, the ottoman 105 may be pivotally supported by the base part 103 or the like. Further, the ottoman 105 is rotatable, for example, about a rotation axis J2 extending along the left - right direction near or in front of the front end portion of the seat part 101. An airbag (not shown) is provided in the ottoman 105. By the expansion and contraction of the airbag, the lower leg of the patient is treated.

[0018] In addition, when starting treatment, the massage machine 100 detects the position of the patient's foot. Thereby, the massage machine 100 can perform treatment in a state where the ottoman 105 sufficiently supports the foot without constricting the lower limb of the patient.

[0019] <1 - 2, Control system of the massage machine 100> Next, a configuration example of the control system of the massage machine 100 will be described. FIG. 2 is a block diagram showing a control system for controlling the operation of the massage machine 100.

[0020] The massage machine 100 includes an operation unit 1061, a storage unit 1062, a control unit 107, an actuator group 1081, an air pump 1082, and a solenoid valve group 1083.

[0021] The operation unit 1061 is an input device for the patient to select a treatment pattern, adjust the intensity of treatment, and adjust the position of the heel part (described later), etc. The operation unit 1061 is connected to the control unit 107 via a cord line. The operation unit 1061 receives operation inputs from the patient or the like and outputs a signal based on the operation input to the control unit 107. The operation unit 1061 can be attached to and detached from a stand (not shown). The stand is fixed to the armrest part 104 arranged on the left side (or right side) of the seat part 101.

[0022] The storage unit 1062 is a non-volatile storage medium that retains the stored information even when the power supply is stopped. The storage unit 1062 stores, for example, programs and data necessary for the control unit 107 to control the operation of the massager 100.

[0023] The control unit 107 is disposed, for example, below the seat part 101, and controls each part of the massager 100 based on signals output from the operation unit 1061 and the like. For example, the control unit 107 controls the actuator group 1081, the air pump 1082, and the electromagnetic valve group 1083. Further, the control unit 107 performs foot position detection under the control of the ottoman 105. Further, the control unit 107 includes an arithmetic unit 1071, a determination unit 1072, and a movement control unit 1073. These will be described later.

[0024] The actuator group 1081 includes a plurality of actuators. For example, the actuator group 1081 includes a backrest part actuator for rotating the backrest part 102, an ottoman actuator for rotating the ottoman 105, and an actuator disposed on the ottoman 105.

[0025] The electromagnetic valve group 1083 includes a plurality of electromagnetic valves. Some of the plurality of electromagnetic valves are provided between the air pump 1082 and an airbag group provided in the massager 100, and switch the communication / shutoff between the two. The airbag group includes, for example, an airbag provided in the ottoman 105. Also, some of the other plurality of electromagnetic valves are provided between the airbag group and the outside, and switch the communication / shutoff between the two. For example, when the air pump 1082 and the airbag communicate through some of the electromagnetic valves, the airbag expands as airbag air is supplied from the air pump 1082 through the electromagnetic valve. On the other hand, when the outside and the airbag communicate due to the operation of some of the other electromagnetic valves, the air in the airbag is discharged to the outside through the electromagnetic valve. Thereby, the airbag contracts. Further, when the airbag does not communicate with either the air pump 1082 or the outside due to the operation of each electromagnetic valve, the amount of air in the airbag is maintained.

[0026] <1-3. Configuration for detecting the position of the feet> Next, with reference to FIGS. 3 to 5B, a configuration example for detecting the position of the feet will be described. FIG. 3 is a perspective view showing a configuration example of the ottoman 105 according to the first embodiment. FIG. 4A is a side view of the ottoman 105 in a state where the mounting portion 1 is moved in the direction H1 approaching the seat portion 101 in the first embodiment, as viewed from the right side. FIG. 4B is a side view of the ottoman 105 in a state where the mounting portion 1 is moved in the direction H2 away from the seat portion 101 in the first embodiment, as viewed from the right side. FIG. 5A is a front view of the ottoman 105 in a state where the mounting portion 1 is moved in the direction H1 approaching the seat portion 101 in the first embodiment, as viewed from the front side. FIG. 5B is a front view of the ottoman 101 in a state where the mounting portion 1 is moved in the direction H2 away from the seat portion 101 in the first embodiment, as viewed from the front side. Note that FIGS. 3 to 5B illustrate the main part of the ottoman 105, and for the sake of easy viewing of the main part, for example, the exterior such as the housing member 21 (see FIG. 1), the cloth or leather cover disposed on the surface, and the cushioning material are omitted.

[0027] The ottoman 105 of the massage machine 100 includes a mounting portion 1, a housing portion 2, a slide mechanism 3, an actuator 4, and a sensor portion 5.

[0028] The mounting portion 1 is a portion for placing the feet of the seated subject on the ottoman 105, and is movable in the direction H0 with respect to the front end portion of the seat portion 101 (or the shaft support portion 1051 of the ottoman 105). Note that the direction H0 is an example of the "first direction" of the present invention, and is the direction in which the mounting portion 1 moves. In other words, it is the direction of approaching or separating from the front end portion of the seat portion 101 (or the above-mentioned shaft support portion 1051).

[0029] The placement part 1 has a base plate part 11 and a pair of left and right L-shaped parts 12. The base plate part 11 is a plate-shaped member for placing the feet and extends in a direction perpendicular to the direction H0. Each L-shaped part 12 has a pair of left and right support parts 121 and a pair of left and right first slide rods 122. The support part 121 extends in a direction perpendicular to the direction H0 and the left and right directions and is arranged on both left and right sides of the base plate part 11 in the left and right direction to support the base plate part 11. The first slide rod 122 extends along the direction H0 from the rear end part of the support part 121 and guides the slide mechanism 3 in the direction H0.

[0030] The accommodation part 2 is arranged between the placement part 1 and the front end part of the seat part 101 (or the shaft support part 1051). The accommodation part 2 has an accommodation member 21 (see FIG. 1) and a frame 22. The accommodation member 21 accommodates the lower legs of the seated subject. The frame 22 supports the accommodation member 21. The frame 22 has a pair of upper and lower U-shaped arms 221, a column part 222, a pair of left and right second slide rods 223, and a connection plate 224. The U-shaped arm 221 forms a U shape when viewed from the direction H1 side. The U-shaped arm 221 is composed of a first rod-shaped body 2211 extending in the left and right direction and second rod-shaped bodies 2212 extending from both left and right ends of the first rod-shaped body 2211 in a direction perpendicular to the direction H0 and the left and right directions. The column part 222 connects the central parts of the pair of upper and lower U-shaped arms 221. The second slide rod 223 connects the left and right direction ends of the pair of upper and lower U-shaped arms 221 and guides the slide mechanism 3 in the direction H0 together with the first slide rod 122. The connection plate 224 is a jig for fixing the first detection part 53 (described later) of the sensor part 5 to the accommodation part 2 and is arranged between the pair of upper and lower U-shaped arms 221.

[0031] The slide mechanism 3 supports the placement part 1 and the accommodation part 2. In this embodiment, the slide mechanism 3 is arranged on both left and right sides of the ottoman 105. The slide mechanism 3 has, for example, a frame 31 and a slide member 32.

[0032] The frame 31 has a pair of left and right column portions 311 and a plurality of beam portions 312 extending in the left - right direction. In this embodiment, the end portion of the column portion 311 on the H1 - side is rotatably connected to the front end portion of the seat portion 101. The plurality of beam portions 312 connect between the pair of left and right column portions 311. In this embodiment, the beam portion 312 has a first beam portion 3121, a second beam portion 3122, and a third beam portion 3123. The first beam portion 3121 connects the end portions of the pair of left and right column portions 311 on the H1 - side. The second beam portion 3122 connects the central portions of the pair of left and right column portions 311 in the H0 - direction. The third beam portion 3123 connects the end portions of the pair of left and right column portions 311 on the H2 - side.

[0033] The slide member 32 is connected to the left - right direction end portions of the second beam portion 3122 and the third beam portion 3123 of the frame 31. Also, the slide member 32 is slidably connected to the first slide rod 122 and the second slide rod 223, and is guided by these to be slidable in the H0 - direction together with the frame 31.

[0034] Note that in this embodiment, the housing portion 2 is immovable in the H0 - direction with respect to the frame 31. However, this example does not exclude a configuration in which the housing portion 2 is movable in the H0 - direction with respect to the frame 31.

[0035] The actuator 4 is an example of the "first moving mechanism" of the present invention, is extendable and contractible in the direction H0, and moves the mounting portion 1 in the direction H0. Further, the actuator 4 varies the distance between the mounting portion 1 and the accommodating portion 2. The actuator 4 is included in the actuator group 1081. One end of the actuator 4 (for example, the end on the H1 side of the cylinder 41) is fixed to the U-shaped arm 221 on the H1 side together with the drive source via a jig. The other end of the actuator 4 (for example, the end on the H2 side of the rod 42) is connected to the mounting portion 1 via a jig. The mounting portion 1 moves in the direction H1 in response to the contraction of the actuator 4 and moves in the direction H2 in response to the extension of the actuator 4. Note that the direction H1 is an example of the "second direction" of the present invention, is one of the directions of H0, is the direction in which the mounting portion 1 approaches the seat portion 101, and is the direction from the ankle to the knee of the seated subject to be treated. The direction H2 is an example of the "third direction" of the present invention, is the direction opposite to the direction H1 among the directions H0, is the direction in which the mounting portion 1 moves away from the seat portion 101, and is the direction from the knee to the ankle of the seated subject to be treated.

[0036] In the present embodiment, the actuator 4 is a conductive linear actuator, and uses a brushless motor 43 (preferably a stepping motor) as a drive source to move the rod 42 accommodated in the cylinder 41 in the pulling-out direction and the inserting direction. For example, a worm gear is disposed on the rod 42 side, and a gear meshing with the worm gear is disposed on the shaft side of the brushless motor 43. By the meshing of the two, the rotational motion of the brushless motor 43 is converted into the linear motion of the rod 42. By mounting the brushless motor 43 on the actuator 4, even if the actuator 4 is slowly extended and contracted, the amount of its extension and contraction can be accurately controlled. However, this example does not exclude a configuration in which an actuator 4 other than the conductive linear actuator is employed. For example, the actuator 4 may be a motor-driven ball screw mechanism or the like.

[0037] The sensor unit 5 is an example of the "first sensor unit" of the present invention, and is disposed on the ottoman 105 in order to detect the position and movement of the mounting portion 1 in the direction H0.

[0038] For example, when starting treatment on a seated patient, the massage device 100 detects the position of the patient's feet based on the detection results of the position and movement of the placement unit 1 in the direction H0. At this time, the control unit 107 controls the actuator 4 based on the detection results of the sensor unit 5. Specifically, in the control unit 107, the calculation unit 1071 calculates the position of the placement unit 1 and the change in the movement speed based on the detection results of the sensor unit 5. The determination unit 1072 determines whether the foot (especially the sole of the foot) has come into contact with the placement unit 1 (the end face on the H1 side of the placement unit 1 of the placement unit 1) based on the speed change of the placement unit 1 when the actuator 4 is driven at a constant voltage. Hereinafter, the end face on the H1 side of the placement unit 1 will be referred to as the "upper surface". The movement control unit 1073 controls the actuator 4. When the determination unit 1072 determines that the foot has come into contact with the placement unit 1, the movement control unit 1073 stops the movement of the placement unit 1.

[0039] In the massage device 100 of the present embodiment, the control unit 107 can detect the position and movement of the placement unit 1 in the direction H0 based on the detection results of the sensor unit 5. Furthermore, the control unit 107 can detect the change in the movement speed of the placement unit 1 in the direction H1.

[0040] For example, when the placement unit 1 moving at a constant speed in the direction H1 by the actuator 4 at a constant voltage, when the foot (the sole of the foot) of the patient comes into contact with the placement unit 1 (for example, the upper surface), a load of the foot is applied to the placement unit 1 in the direction H2, so the speed change of the placement unit 1 in the direction H1 is dulled. Therefore, at the timing when this dulling occurs, the determination unit 1072 can determine that the foot has come into contact with the placement unit 1. That is, the control unit 107 of the massage device 100 detects the position of the placement unit 1 at this timing in the direction H0 as the position where the patient's foot has come into contact.

[0041] Therefore, the massage machine 100 can detect whether or not the feet of the ottoman 105 are in contact with the placement part (e.g., the upper surface of the placement part 1) without arranging a pressure sensor or the like on the part where the feet of the ottoman 105 are placed. Further, the massage machine 100 can also arrange treatment elements such as air bags and rollers, and a heater for warming the feet from the soles of the feet on the part where the feet of the ottoman 105 are placed (that is, the upper surface of the placement part 1). Therefore, the layout of treatment elements and heaters can be designed more freely.

[0042] In addition, the movement control unit 1073 can prevent the feet of the seated subject from being pushed in the direction H1 due to the movement of the placement part 1 by stopping the movement of the placement part 1 at the above-mentioned timing. Therefore, the massage machine 100 can support the feet at an appropriate position on the placement part 1 without bending the lower limbs (especially the knees, lower legs, feet, etc.) of the subject. Thus, the subject can receive the treatment of the massage machine 100 in a comfortable state.

[0043] Preferably, when the contact position between the feet (the soles of the feet) of the subject in the direction H0 and the placement part 1 (the upper surface thereof) is detected, the control unit 107 associates the contact position (that is, the position of the placement part 1 in the direction H0) with the subject information indicating the subject and stores it in the storage unit 1062. In this way, once the subject memorizes the contact position, from the next time on, the subject can call the position of the placement part 1 suitable for the subject and receive treatment for the lower legs and feet. For example, when the operation unit 1061 receives an input operation for identifying the subject, the massage machine 100 reads out the contact position associated with the subject information from the storage unit 1062 and moves the placement part 1 so that the upper surface of the placement part 1 in the direction H0 becomes the contact position. Therefore, it is not necessary to perform the detection operation of the contact position as described above for each treatment, so the subject can easily receive treatment for the lower legs and feet. However, this example does not exclude a configuration in which the above-mentioned detection of the contact position is performed each time the lower legs and feet are treated.

[0044] Also, preferably, when detecting the position of the foot (i.e., when the determination unit 1072 determines whether or not the foot has come into contact with the placement unit 1), after moving the placement unit 1 in the direction H2, the movement control unit 1073 moves the placement unit 1 in the direction H1 from the ankle to the knee of the subject being treated.

[0045] By doing so, the massage machine 100 can prevent starting the detection of the foot position in a state where the foot has already come into contact with (is placed on) the placement unit 1. For example, when detecting the foot position, the massage machine 100 first moves the placement unit 1 in the direction H2 to sufficiently separate the placement unit 1 (the upper surface thereof) from the foot (the sole of the foot) of the seated subject. Thereafter, the massage machine 100 moves the placement unit 1 in the direction H1. Thereby, the massage machine 100 can surely detect the timing when the foot comes into contact with the placement unit 1 and the position of the placement unit 1 at that timing (i.e., the position of the foot of the subject being treated).

[0046] Next, a configuration example of the sensor unit 5 will be described. As shown in FIGS. 3 to 5B, the sensor unit 5 includes a plate member 51, a plurality of first openings 52, and a first detection unit 53. The plate member 51 extends in the direction H0. The plate member 51 is fixed to the placement unit 1 via a jig. The plurality of first openings 52 are arranged in the plate member 51. Each of the first openings 52 is arranged at equal intervals in the direction H0. The first detection unit 53 includes a first light emitting unit 531 and a first light receiving unit 532. The first light emitting unit 531 emits light toward the first light receiving unit 532. The first light receiving unit 532 faces the first light emitting unit 531 with the plate member 51 interposed therebetween.

[0047] One of the plate member 51, the first light emitting portion 531, and the first light receiving portion 532 is movable in the direction H0 together with the mounting portion 1. For example, in the present embodiment, the end portion of the plate member 51 on the H2 side is fixed to the base plate portion 11 of the mounting portion 1 via a jig. The first detection portion 53 is fixed to the connection plate 224 of the frame 22 of the housing portion 2. Therefore, while the plate member 51 is movable in the direction H0 with respect to the frame 31 (particularly the shaft support portion 1051), the first detection portion 53 is immovable in the direction H0 with respect to the frame 31 (particularly the shaft support portion 1051). However, the present invention is not limited to this example, and the first detection portion 53 may be fixed to the mounting portion 1 and movable in the direction H0 with respect to the frame 31 (particularly the shaft support portion 1051), and the plate member 51 may be fixed to the housing portion 2, for example, and immovable in the direction H0 with respect to the frame 31 (particularly the shaft support portion 1051).

[0048] The first light receiving portion 532 of the sensor portion 5 outputs a first pulse signal Ps1 to the control portion 107. The first pulse signal Ps1 is output based on the detection result of the light incident on the first light receiving portion 532 through the first aperture 52, and indicates a signal intensity A corresponding to the detection of the light (see FIGS. 6A to 6C described later). The first pulse signal Ps1 includes a plurality of pulses p0. Each pulse p0 indicates light detection at the first light receiving portion 532 and is arranged in time series. For example, the signal intensity A of the first pulse signal Ps1 becomes the first signal intensity a1 during the period when light is detected (i.e., the pulse p0), and becomes the second signal intensity a2 during the period when no light is detected.

[0049] Note that the second signal intensity a2 may be less than the first signal intensity a1. In the present embodiment, the second signal intensity a2 = 0 will be described. However, the present invention is not limited to this example, and the first signal intensity a1 may be less than the second signal intensity a2. For example, the first signal intensity a1 = 0, and the second signal intensity a2 may be a higher value. That is, in this case, the first pulse signal Ps1 may be a pulse signal in which the signal intensity A shown in FIGS. 6A to 6C is inverted.

[0050] The control unit 107 controls the actuator 4 based on the first pulse signal Ps1. At this time, the control unit 107 monitors the detection results of the sensor unit 5 at equally spaced time points. The monitoring time interval may be, for example, 1 times or less and 0.1 times or more the normal time length of the pulse p0. Here, the normal time length refers to, for example, the time length of the pulse p0 detected when the placement unit 1 moves in the direction H0 in a state where the foot is not in contact with the placement unit 1. By setting the monitoring time interval to a length as described above, the computational load on the control unit 107 can be reduced. Therefore, even if a high-performance computing device is not installed in the control unit 107, the detection of the position and movement of the foot and the control of the actuator 4 can be sufficiently performed. However, this example does not exclude a configuration in which the monitoring time interval is less than 0.1 times the normal time length.

[0051] In this way, the massage device 100 can detect changes in the position and movement speed of the placement unit 1 in the direction H0 using the linear scale encoder. Furthermore, the massage device 100 can detect the position of the foot of the subject based on these detection results.

[0052] In the sensor unit 5 (linear scale encoder) of the present embodiment, the plate member 51 is fixed to the placement unit 1, and as the placement unit 1 (the base plate portion 11 thereof) moves, a plurality of first openings 52 (slits) provided in the plate member 51 (linear scale) move. On the other hand, the first detection unit 53 is immovable in the direction H0 with respect to the frame 31 (the shaft support portion 1051 thereof). The first light emitting unit 531 emits light when the placement unit 1 moves (when the detection of the position and movement starts). At this time, the first light emitting unit 531 may emit light intermittently, or may emit light, for example, during a period including the time point when the control unit 107 monitors the signal intensity A of the first pulse signal Ps1.

[0053] For example, when the plate member 51 moves in the direction H0, the plurality of first openings 52 also move along the direction H0. Therefore, if there is a first opening 52 between the first light-receiving portion 532 and the first light-emitting portion 531, the first light-receiving portion 532 detects the light emitted from the first light-emitting portion 531. On the other hand, if there is no first opening 52 between the first light-receiving portion 532 and the first light-emitting portion 531, the first light-receiving portion 532 is blocked by the plate member 51 and cannot detect light. Therefore, the signal intensity A of the first pulse signal Ps1 output to the control unit 107 changes according to the presence or absence of light detection by the first light-receiving portion 532.

[0054] The control unit 107 can determine, by the determination unit 1072, whether the foot of the seated subject has come into contact with the placement unit 1 by monitoring the moving direction of the placement unit 1 and the change over time of the signal intensity A of the first pulse signal Ps1, and can further detect the position of the placement unit 1 in the direction H0. For example, the first openings 52 are arranged at equal intervals in the direction H0. Therefore, the control unit 107 can detect the position of the placement unit 1 in the direction H0 by, for example, the difference (subtraction) between the number of pulses p0 during the period when the signal intensity A = a1 when the placement unit 1 is moving in the direction H1 and the number of pulses p0 during the period when the signal intensity A = a1 when the placement unit 1 is moving in the direction H2. However, the present invention is not limited to this example, and the number of periods when the signal intensity A = a2 may be used for the above-described difference.

[0055] Also, when the foot is not placed on the placement unit 1, the load (such as the weight of the lower limb) from the lower limb of the seated subject does not act on the placement unit 1. Therefore, the position of the placement unit 1 in the direction H0 moves as the actuator 4 is driven. For example, when the actuator 4 moves the placement unit 1 toward the direction H1 at a constant speed, the pulses p0 of the first pulse signal Ps1 are arranged at equal intervals with a constant width. Specifically, the pulse width of the pulse p0 indicating the signal intensity A = a1 (for example, the period when the signal intensity A = a1) is constant. That is, the moving speed of the placement unit in the direction H1 is also constant. The same applies when the placement unit 1 moves in the direction H2. Therefore, if the moving speed of the placement unit 1 is constant, the determination unit 1072 can determine that the foot is not in contact with the placement unit 1.

[0056] On the other hand, when the foot contacts the placement unit 1 when the placement unit 1 moves in the direction H1, a load is applied to the placement unit 1 from the lower limb of the subject sitting down. Therefore, it becomes difficult for the placement unit 1 to move as the actuator 4 is driven. Therefore, the movement of the placement unit 1 and the plate member 51 in the direction H1 suddenly slows down.

[0057] Therefore, the time for the light emitted from the first light emitting unit 531 to pass through the same first opening 52 and enter the first light receiving unit 532 suddenly becomes long. Similarly, the time for the light emitted from the first light emitting unit 531 to be blocked by the plate member 51 and not enter the first light receiving unit 532 also suddenly becomes long. Therefore, the pulse width of the pulse p0 indicating the signal intensity A = a1, and the interval between two adjacent pulses p0 in the time series, etc. suddenly change and become wide. Also, the rate of change of these over time also suddenly changes and becomes large.

[0058] Therefore, the determination unit 1072 can determine that the foot has contacted the placement unit 1 at that time by detecting the point in time when any of the above suddenly changes over time. Also, the movement control unit 1073 can stop the actuator 4 at that time and stop the movement of the placement unit 1.

[0059] <1-4. Foot position detection example> Next, with reference to FIGS. 6A to 6C, a first detection example, a second detection example, and a third detection example of the foot position will be described. FIG. 6A is a graph showing the change over time of the first pulse signal Ps1 in the first detection example. FIG. 6B is a graph showing the change over time of the first pulse signal Ps1 in the second detection example. FIG. 6C is a graph showing the change over time of the first pulse signal Ps1 in the third detection example. Note that the first pulse signal Ps1 in FIGS. 6A to 6C is output from the sensor unit 5 when the placement unit 1 moves in the direction H1.

[0060] <1-4―1. First detection example> In the first detection example, the control unit 107 monitors the signal intensity A of the first pulse signal Ps1 at regular intervals. The arithmetic unit 1071 of the control unit 107 calculates the first time width W1 when the placement unit 1 is moving in the direction H1. The first time width W1 is the period from the first time point when the signal intensity A = a1 of the pulse p0 is detected to the nearest second time point when the signal intensity A = a1 of the pulse p0 is detected next. That is, in the time series, the second time point is a time point after the first time point and is the nearest time point among the time points when the same signal intensity A = a1 is detected to the first time point.

[0061] Furthermore, the determination unit 1072 of the control unit 107 determines that the foot has come into contact with the placement unit 1 when the first time width W1 becomes equal to or greater than the time threshold Sw1. For example, in FIG. 6A, in the time series, since the first time width W1 before the time point ta1 is less than the time threshold Sw1, the determination unit 1072 determines that the foot has not come into contact with the placement unit 1 moving in the direction H1. On the other hand, in the time series, the first time width W1 between the time points ta1 and ta2 is greater than the time threshold Sw1. Therefore, the determination unit 1072 determines that the foot has come into contact with the placement unit 1 moving in the direction H1, and sets the position of the placement unit 1 in the direction H0 at the time point ta2 as the position of the foot. Further, the movement control unit 1073 stops the movement of the placement unit 1 at the time point ta2. Thereby, the massager 100 can perform treatment in a state where the foot of the subject is placed on and supported by the placement unit 1.

[0062] Note that the present invention is not limited to the above example, and the arithmetic unit 1071 of the control unit 107 may calculate the change rate R1 (= {ΔW1 / Δt}) of the first time width W1 when the placement unit 1 is moving in the direction H1. Then, the determination unit 1072 of the control unit 107 may determine that the foot has come into contact with the placement unit 1 when the change rate R1 becomes equal to or greater than the change rate threshold Sr1. That is, the control unit 107 may determine that the foot has come into contact with the placement unit 1 at at least one of the time point when W1 ≧ Sw1 and the time point when R1 ≧ Sr1.

[0063] According to the first detection example, the control unit 107 calculates the first time width W1 (or its change rate R1) from the signal intensity A of the first pulse signal Ps1 monitored intermittently, and compares it with the time threshold Sw1 (or the change rate threshold Sr1). Thereby, it is possible to easily determine whether the foot has come into contact with the placement unit 1. Furthermore, since the determination process can be simplified, the computational load on the control unit 107 can also be reduced.

[0064] <1-4―2. Second Detection Example> In the second detection example, the control unit 107 monitors the signal intensity A of the first pulse signal Ps1 at regular intervals. The calculation unit 1071 of the control unit 107 calculates the second time width W2 when the placement unit 1 is moving in the direction H1. The second time width W2 is the period from the next time point after the time point when the signal intensity A = a1 of the pulse p0 is detected and the first time point when the pulse p0 is not detected to the nearest second time point when the signal intensity A = a1 of the pulse p0 is detected next. At the first time point, a different signal intensity A = a2 ≠ 0 of the pulse p0 may be detected.

[0065] That is, in the time series, the second time point is a time point after the first time point and is the nearest time point to the first time point among the time points when the pulse p0 is not detected (or the time points when a different signal intensity A = a2 of the pulse p0 is detected). The third time point is a time point after the second time point and is the nearest time point to the second time point among the time points when the signal intensity A = a1 of the pulse p0 is detected.

[0066] Furthermore, when the second time width W2 becomes equal to or greater than the time threshold Sw2, the determination unit 1072 of the control unit 107 determines that the foot has come into contact with the placement unit 1. For example, in FIG. 6B, in the time series, before the time point tb1, since the second time width W2 is less than the time threshold Sw2, the determination unit 1072 determines that the foot is not in contact with the placement unit 1 moving in the direction H1. On the other hand, in the time series, the second time width W2 between the time points tb1 and tb2 becomes larger than the time threshold Sw2. Therefore, the determination unit 1072 determines that the foot has come into contact with the placement unit 1 moving in the direction H1, and sets the position of the placement unit 1 in the direction H0 at the time point tb2 as the position of the foot. Further, the movement control unit 1073 stops the movement of the placement unit 1 at the time point tb2. Thereby, the massage machine 100 can perform treatment while placing and supporting the foot of the subject on the placement unit 1.

[0067] Note that the present invention is not limited to the above example, and the arithmetic unit 1071 of the control unit 107 may calculate the change rate R2 ({ΔW2 / Δt}) of the second time width W2 when the placement unit 1 is moving in the direction H1. Then, the determination unit 1072 of the control unit 107 may determine that the foot has come into contact with the placement unit 1 when the change rate R2 becomes equal to or greater than the change rate threshold Sr2. That is, the control unit 107 may determine that the foot has come into contact with the placement unit 1 at at least one of the time point when W2≧Sw2 and the time point when R2≧Sr2.

[0068] According to the second detection example, the control unit 107 calculates the second time width W2 (or its change rate R2) from the signal intensity A of the first pulse signal Ps1 monitored at predetermined time intervals, and compares it with the time threshold Sw2 (or the change rate threshold Sr2). Thereby, it is possible to easily determine whether or not the foot has come into contact with the placement unit 1. Further, the second time width W2 used for the above determination can be made shorter (for example, compared to the first time width W1). Therefore, the control unit 107 can detect more accurately and quickly that the foot has come into contact with the placement unit 1 and stop the movement of the placement unit 1.

[0069] <1-4―3. Third Detection Example> In the third detection example, the control unit 107 may detect either the rising edge E1 or the falling edge E2 of each pulse p0. In this embodiment, the control unit 107 detects the rising edge E1. The rising edge E1 refers to the change in the signal intensity A from the Low level (i.e., A = a2) to the High level (i.e., A = a1). The falling edge E2 refers to the change in the signal intensity A from the High level (i.e., A = a1) to the Low level (i.e., A = a2).

[0070] For example, as shown in FIG. 6C, for each pulse p0, the control unit 107 detects the time point when the rising edge E1 occurs as the time point when a predetermined signal intensity a3 is detected when the signal intensity A rises from the Low level. Also, for each pulse p0, the control unit 107 detects the time point when the rising edge E1 occurs as the time point when a predetermined signal intensity a3 is detected when the signal intensity A drops from the High level.

[0071] The above-mentioned predetermined signal intensity a3 is a value (a2 + Ad) obtained by adding a predetermined intensity Ad to the signal intensity of the Low level (A = a2). The predetermined intensity Ad is a value that is 30% or more and 80% or less of the signal intensity difference ΔA (= |a1 - a2|) between the High level and the Low level (i.e., 0.3*ΔA ≤ Ad ≤ 0.8*ΔA). In this embodiment, a value of 50% of the signal intensity difference ΔA (Ad = 0.5*ΔA) is adopted.

[0072] That is, in this embodiment, the falling edge E2 is detected at the time point when a predetermined signal intensity a3 (= {a2 + 0.5*ΔA}) is detected when the signal intensity A drops from the High level (A = a1). Also, the rising edge E1 is detected at the time point when a predetermined signal intensity a3 (= {a2 + 0.5*ΔA}) is detected when the signal intensity A rises from the Low level (A = a2).

[0073] When the control unit 107 detects the rising edge E1 (falling edge E2), it monitors the signal strength A of the first pulse signal Ps1. Alternatively, the control unit 107 may monitor the signal strength A of the first pulse signal Ps1 at fine and fixed time intervals such that the rising edge E1 (falling edge E2) of the pulse p0 can be sufficiently detected.

[0074] The arithmetic unit 1071 of the control unit 107 calculates the third time width W3 when the mounting unit 1 is moving in the direction H1. The third time width W3 is the period between the above-mentioned edges of two adjacent pulses p0 in the time series. For example, when the arithmetic unit 1071 of the control unit 107 detects the rising edge E1 of each pulse p0, it calculates the period between the rising edges E1 of two adjacent pulses p0 in the time series as the third time width W3. When the arithmetic unit 1071 detects the falling edge E2 of each pulse p0, it calculates the period between the falling edges E2 of two adjacent pulses p0 in the time series as the third time width W3.

[0075] In other words, the arithmetic unit 1071 of the control unit 107 calculates the period from the first time point when the rising edge E1 (or falling edge E2) of the pulse p0 is detected to the second time point when the next rising edge E1 (or falling edge E2) is detected in the time series as the third time width W3. The second time point is a time point after the first time point and is the time point closest to the first time point among the time points when the rising edge E1 (or falling edge E2) is detected.

[0076] Furthermore, when the placement unit 1 is moving in the direction H1, the determination unit 1072 of the control unit 107 determines that the foot has come into contact with the placement unit 1 when the third time width W3 becomes equal to or greater than the time threshold Sw3. For example, in FIG. 6C, in the time series, before the time point tc1, since the third time width W3 is less than the time threshold Sw3, the determination unit 1072 determines that the foot has not come into contact with the placement unit 1 moving in the direction H1. On the other hand, in the time series, the third time width W3 between the time points tc1 and tc2 becomes greater than the time threshold Sw3. Therefore, the determination unit 1072 determines that the foot has come into contact with the placement unit 1 moving in the direction H1, and sets the position of the placement unit 1 in the direction H0 at the time point tc2 as the position of the foot. Further, the movement control unit 1073 stops the movement of the placement unit 1 at the time point tc2. Thereby, the massage device 100 can perform treatment in a state where the foot of the subject is placed on and supported by the placement unit 1.

[0077] Note that the present invention is not limited to the above example, and the arithmetic unit 1071 of the control unit 107 may calculate the change rate R3 (= {ΔW3 / Δt}) of the third time width W3 when the placement unit 1 is moving in the direction H1. Then, the determination unit 1072 of the control unit 107 may determine that the foot has come into contact with the placement unit 1 when the change rate R3 becomes equal to or greater than the change rate threshold Sr3. That is, the control unit 107 may determine that the foot has come into contact with the placement unit 1 at at least one of the time point when W3 ≥ Sw3 and the time point when R3 ≥ Sr3.

[0078] According to the third detection example, the control unit 107 can perform the determination with higher accuracy (for example, as compared with the first detection example and the second detection example) by using the rising edge E1 or the falling edge E2 of the pulse p0 for determining whether the foot has come into contact with the placement unit 1. Therefore, the control unit 107 can detect more accurately that the foot has come into contact with the placement unit 1 and stop the movement of the placement unit 1 more quickly.

[0079] <1-5. Rebound unit 13> Next, preferably, as shown in FIG. 7, in the ottoman 105 of the massage machine 100, the placement portion 1 may further include a repulsion portion 13. FIG. 7 is a side view showing another configuration example of the ottoman 105 in the first embodiment. Note that FIG. 7 shows the ottoman 105 as viewed from the right side. Also, FIG. 7 shows the main part of the ottoman 105, and in order to make the main part easier to see, for example, the exterior such as the housing member 21 (see FIG. 1), the cloth or leather cover disposed on the surface, and the cushioning material are omitted.

[0080] The repulsion portion 13 is disposed on the base plate portion 11 (particularly the part where the feet rest). The repulsion portion 13 has a plate-shaped contact portion 131 and an elastic member 132.

[0081] The contact portion 131 can come into contact with the soles of the feet of the seated subject to be treated. That is, as shown in FIG. 7, the end face on the direction H1 side of the contact portion 131 becomes the upper surface of the placement portion 1.

[0082] The elastic member 132 is disposed between the base plate portion 11 and the contact portion 131 in the direction H0 and is stretchable in the direction H0. The contact portion 131 is, for example, a horizontally extending plate shape and is disposed above the elastic member 132. The elastic member 132 is, for example, a spring coil. However, it is not limited to this example, and the elastic member 132 may be, for example, a spring member other than a spring coil, or a highly resilient porous body such as rubber or urethane sponge.

[0083] Due to the arrangement of the repulsion portion 13, when the placement portion 1 moves in the direction H1, the feet of the seated subject to be treated come into contact with the contact portion 131 of the repulsion portion 13. At this time, due to the contraction of the elastic member 132, an elastic force directed in the direction H2 acts on the base plate portion 11 of the placement portion 1. Therefore, the movement of the placement portion 1 in the direction H1 is further slowed down. That is, the moving speed of the placement portion 1 when the feet come into contact becomes even more rapidly smaller. Therefore, since the timing at which this slowdown occurs is easier to detect, the massage machine 100 can more accurately detect the position of the feet of the subject to be treated and can support the feet at a more appropriate position with the placement portion 1.

[0084] Furthermore, the massage device 100 can also be provided with a treatment device such as an airbag or a roller, a heater for warming the feet from the soles, etc. on the portion where the feet of the ottoman 105 rest (i.e., the end face on the H1 side of the plate-shaped contact portion 131, i.e., the upper surface of the contact portion 131). Therefore, even if the repulsion portion 13 is arranged, the layout of the treatment device, the heater, etc. can be freely designed.

[0085] However, this example does not exclude the configuration in which the ottoman 105 (placement portion 1 thereof) of the massage device 100 does not include the repulsion portion 13.

[0086] <1-6. Modification of the First Embodiment> Next, with reference to FIGS. 8 and 9, a modification of the first embodiment will be described. FIG. 8 is an external view showing a configuration example of the ottoman 105 in the modification of the first embodiment. FIG. 9 is a graph showing the change over time of the first pulse signal Ps1 in the modification of the first embodiment. Note that in FIG. 8, the ottoman 105 is viewed from the rear side. Also, FIG. 8 shows the main part of the ottoman 105, and in order to make the main part easier to see, for example, the exterior such as the housing member 21 (see FIG. 1), the cloth or leather cover arranged on the surface, and the cushioning material are omitted.

[0087] Also, in FIGS. 8 and 9, the position of the feet is detected with the same configuration as the above-described first detection example. However, the present invention is not limited to this example, and the foot position detection may be performed with a configuration different from the first detection example. For example, it may be performed with the same configuration as the aforementioned second detection example or third detection example.

[0088] Also, hereinafter, the configuration different from the first embodiment will be described. Also, the same reference numerals may be given to the same components as those in the first embodiment, and the description thereof may be omitted.

[0089] In a modification of the first embodiment, the sensor unit 5 further has a plurality of second openings 54. Each of the second openings 54 is disposed between the first openings 52 adjacent to each other in the direction H0 among at least a part of the first openings 52 of the plate member 51. Note that the second opening 54 disposed between each of the first openings 52 adjacent to each other in the direction H0 is singular in this embodiment, but may be plural. In the direction H0, the first opening 52 and the singular or plural second openings 54 are arranged at equal intervals. For example, in the direction H0, the first opening 52 and the singular second opening 54 are arranged alternately at equal intervals. Alternatively, in the direction H0, among the adjacent first openings 52, the plurality of second openings 54 are arranged at equal intervals. At this time, in the direction H0, the interval between the plurality of second openings 54 disposed between the adjacent first openings 52 is the same as the interval between the adjacent first openings 52 and the second openings 54.

[0090] In a modification of the first embodiment, the first pulse signal Ps1 is output based on a detection result of light incident on the first light receiving unit 532 through the first opening 52 or the second opening 54, and indicates a signal intensity A corresponding to the detection of the light. For example, as shown in FIG. 9, the first pulse signal Ps1 includes a plurality of first pulses p1 and a plurality of second pulses p2. The first pulse p1 is a pulse p0 output from the first light receiving unit 532 based on a light reception result of the light passing through the first opening 52. The second pulse p2 is a pulse p0 output from the first light receiving unit 532 based on a light reception result of the light passing through the second opening 54. Hereinafter, the first pulse p1 and the second pulse p2 may be collectively referred to as "pulse p0".

[0091] For example, in FIG. 9, after time point td0, the second pulse p2 is generated. Each second pulse p2 is arranged alternately with the first pulse p1 in time series. Also, in time series, since the fourth time width W4 before time point td1 is less than the time threshold Sw4, the determination unit 1072 determines that the foot is not in contact with the placement unit 1 moving in the direction H1. The fourth time width W4 is the period from the first time point when the signal intensity A = a1 of the pulse p0 is detected to the nearest second time point when the signal intensity A = a1 of the pulse p0 is detected next. That is, in time series, the second time point is a time point after the first time point and is the nearest time point among the time points when the same signal intensity A = a1 is detected to the first time point.

[0092] On the other hand, in time series, the fourth time width W4 between time point td1 and time point td2 becomes larger than the time threshold Sw4. Therefore, the determination unit 1072 determines that the foot is in contact with the placement unit 1 moving in the direction H1, and sets the position of the placement unit 1 in the direction H0 at time point td2 as the position of the foot. Also, the movement control unit 1073 stops the movement of the placement unit 1 at time point td2. Thereby, the massager 100 can perform treatment in a state where the foot of the subject is placed and supported on the placement unit 1.

[0093] By doing so, by arranging the second opening 54 (sub slit) between at least a part of the first openings 52 (main slits) of the plate member 51 (scale), the total number of openings (slits) arranged in the plate member 51 increases. That is, the distance between adjacent openings (slits) in the direction H0 becomes narrower than when only the first opening 52 is arranged. At a predetermined distance, by increasing the number of openings, the number of pulses p0 of the output signal of the sensor unit 5 becomes larger compared to the case where only the first opening 52 is arranged in the plate member 51 while the placement unit 1 is moving.

[0094] Since the distance between the openings (slits) adjacent to the direction H0 is narrow, the fourth time width W4 at time points td1 and td2 is narrower than the first time width W1 at time points td1 and td3. In FIG. 9, the fourth time width W4 is the period from the time point (for example, time point td1) when the signal intensity A = a1 of the pulse p0 is detected to the nearest time point (for example, time point td2) when the signal intensity A = a1 of the pulse p0 is detected next. The first time width W1 is the period from the time point (for example, time point td1) when the signal intensity A = a1 of the first pulse p1 is detected to the nearest time point (for example, time point td3) when the signal intensity A = a1 of the first pulse p1 is detected next.

[0095] Therefore, the control unit 107 can detect the time point when the signal intensity becomes A = a1 earlier compared to the case where only the first opening 52 is arranged in the plate member 51. For example, in FIG. 9, the time point td2 when it is determined that the foot has contacted the placement part 1 when both the first opening 52 and the second opening 54 are arranged is earlier than the time point td3 when it is determined that the foot has contacted the placement part 1 when only the first opening 52 is arranged.

[0096] That is, due to the arrangement of the second opening 54, the control unit 107 can detect the position of the placement part 1 in the direction H0 and its moving speed with higher accuracy. Therefore, the massage machine 100 can detect the position of the placement part 1 of the subject to be treated with higher accuracy and support the foot at a more appropriate position with the placement part 1.

[0097] Also, preferably, the second opening 54 is arranged between the first openings 52 for detecting the position where the foot of a subject with a general physique contacts the placement part 1. For example, the second opening 54 is arranged between adjacent first openings 52 at the center of a group of first openings 52 arranged in the direction H0. However, it is not limited to this example, and the second opening 54 arranged between adjacent first openings 52 may be arranged on the H1 side or the H2 side of a group of first openings 52 arranged in the direction H0.

[0098] By doing so, when moving in the direction of the placement unit 1, the number of pulses p0 detected when the placement unit 1 moves to near the position of the foot of the subject increases. Therefore, the control unit 107 can more accurately detect the position of the placement unit 1 when the foot abuts.

[0099] <2. Second Embodiment> Next, the second embodiment will be described with reference to FIGS. 10A to 11B. FIGS. 10A to 11B show a configuration example of the ottoman 105 in the second embodiment. FIG. 10A is a perspective view of the ottoman 105 in a state where the placement unit 1 moves in the direction H1 approaching the seat unit 101 in the second embodiment. FIG. 10B is a perspective view of the ottoman 105 in a state where the placement unit 1 moves in the direction H2 away from the seat unit 101 in the second embodiment. FIG. 11A is a rear view of the ottoman 105 in a state where the placement unit 1 moves in the direction approaching the seat unit 101 in the second embodiment, viewed from the rear. FIG. 11B is a rear view of the ottoman 105 in a state where the placement unit 1 moves in the direction away from the seat unit 101 in the second embodiment, viewed from the rear. Note that FIGS. 10A to 11B illustrate the main part of the ottoman 105, and for the sake of easy viewing of the main part, for example, the exterior such as the housing member 21 (see FIG. 1), the cloth or leather cover disposed on the surface, and the cushioning material are omitted.

[0100] Hereinafter, among the second embodiment, the configurations different from the first embodiment and its modifications will be described. In addition, the same reference numerals are given to the same components as those in the first embodiment and its modifications, and the description thereof may be omitted.

[0101] In the second embodiment, the housing portion 2 of the ottoman 105 is movable in the direction H0. Note that the housing portion 2 may be movable independently of the placement unit 1 or may be movable in conjunction with the placement unit 1.

[0102] As shown in FIGS. 10A to 11B, the ottoman 105 further includes an actuator 7 and a support sensor unit 8.

[0103] The actuator 7 is an example of the "second moving mechanism" of the present invention, and is expandable and contractible in the direction H0, and moves the storage unit 2 in the direction H0. The actuator 7 is included in the actuator group 1081. One end of the actuator 7 (for example, the end of the cylinder 71 on the direction H1 side) is fixed to the first beam portion 3121 of the frame 31 together with a driving source via a jig. The other end of the actuator 7 (for example, the end of the rod 72 on the H2 side) is connected to the frame 22 of the storage unit 2 (the U-shaped arm 221 on the direction H2 side) via a jig. The storage unit 2 moves in the direction H1 in response to the contraction of the actuator 7, and moves in the direction H2 in response to the expansion of the actuator 7.

[0104] In this embodiment, the actuator 7 is an electrically conductive linear actuator, and moves the rod 72 housed in the cylinder 71 in the pull-out direction and the insertion direction using a brushless motor 73 (preferably a stepping motor) as a drive source. For example, a worm gear is disposed on the rod 72 side, and a gear that meshes with the worm gear is disposed on the shaft side of the brushless motor 73. The meshing of the two converts the rotational motion of the brushless motor 73 into the linear motion of the rod 72. By mounting the brushless motor 73 on the actuator 7, the amount of extension and retraction of the actuator 7 can be precisely controlled even if the actuator 7 is extended and retracted slowly. However, this example does not exclude a configuration in which an actuator 7 other than an electrically conductive linear actuator is employed. For example, the actuator 7 may be a ball screw mechanism driven by a motor.

[0105] Support sensor unit 8 is an example of a "second sensor unit" of the present invention, and is disposed on ottoman 105 to detect the position and movement of storage unit 2 in direction H0. Support sensor unit 8 has a plate member 81, an opening 82, and a detection unit 83. In the second embodiment, support sensor unit 8 is a member separate from sensor unit 5, but is a linear scale encoder of the same configuration except that plate member 81 (linear scale) moves together with storage unit 2 in direction H0.

[0106] The control unit 107 detects the position of the housing unit 2 in the direction H0 based on the detection result of the support sensor unit 8. The control unit 107 also controls the actuator 7 based on the detection result of the support sensor unit 8. The position detection of the support sensor unit 8 and the movement control of the actuator 7 are performed in the same manner as the position detection of the placement unit 1 and the position detection of the actuator 4.

[0107] For example, when the massage machine 100 starts treatment of a seated user, it detects the position of the user's feet based on the detection results of the positions and movements of the placement unit 1 and the storage unit 2 in the direction H0. At this time, the control unit 107 controls the actuator 4 based on the detection results of the sensor unit 5, and controls the actuator 7 based on the detection results of the support sensor unit 8. In detail, in the control unit 107, the calculation unit 1071 calculates the position and change in the movement speed of the placement unit 1 relative to the storage unit 2 based on the detection results of the sensor unit 5, and calculates the position and change in the movement speed of the storage unit 2 relative to the frame 31 based on the detection results of the support sensor unit 8. Furthermore, the calculation unit 1071 calculates the position and change in the movement speed of the placement unit 1 relative to the frame 31 based on the above-mentioned calculation results. The determination unit 1072 determines whether or not the foot (particularly the sole) has come into contact with the support unit 1 (the upper surface of the support unit 1) based on the speed change of the support unit 1 when the actuator 4 is driven at a constant voltage and the speed change of the storage unit 2 when the actuator 7 is driven at a constant voltage. When it is determined that the foot has come into contact, the control unit 107 sets the position of the support unit 1 relative to the frame 31 to the position where the foot of the person to be treated has come into contact with the support unit 1. The movement control unit 1073 controls the actuators 4 and 7. When the determination unit 1072 determines that the foot has come into contact with the support unit 1, the movement control unit 1073 stops the movement of the support unit 1 and the storage unit 2.

[0108] For example, the determination unit 1072 of the control unit 107 determines whether or not a foot has come into contact with the mounting unit 1 when the mounting unit 1 moves in a direction (for example, direction H1) in which the distance between the mounting unit 1 and the storage unit 2 is reduced. In one example, the massage machine 100 drives the actuator 4 to move the mounting unit 1 in the direction H1. If the control unit 107 does not detect that a foot has come into contact while the mounting unit 1 is moving in the direction H1, the control unit 107 drives the actuator 7 with the mounting unit 1 stopped moving, moves the storage unit 2 in the direction H1, and detects whether or not a foot has come into contact with the mounting unit 1. If the control unit 107 detects a foot while the storage unit 2 is moving in the direction H1, it stops the movement of the storage unit 2. This allows the massage machine 100 to place the mounting unit 1 at a location suitable for the body type of the person to be treated, particularly the length of the part below the knee (the lower leg and the foot) in the direction H0.

[0109] In this way, in the massage machine 100 of the second embodiment, the control unit 107 can detect the position and movement of the accommodation unit 2 in the direction H0 based on the detection result of the support sensor unit 8. Furthermore, the control unit 107 can detect a change in the movement speed of the accommodation unit 2 in the direction H1.

[0110] For example, when the placement unit 1 and the storage unit 2 move at a constant speed in the direction H1 by the actuators 4 and 7 at a constant voltage, if the foot (sole) of the person to be treated comes into contact with the placement unit 1 (for example, the upper surface), the load of the foot is applied to the placement unit 1 (and the storage unit 2) in the direction H2, so that the speed change of the placement unit 1 and the storage unit 2 in the direction H1 slows down. Therefore, at the timing when the slowdown occurs, the determination unit 1072 can determine that the foot has come into contact with the placement unit 1. In other words, the control unit 107 of the massage machine 100 detects the position of the placement unit 1 at this timing in the direction H0 as the position of the foot of the person to be treated.

[0111] Therefore, the massage machine 100 can detect whether the feet of the user are in contact with the placement portion without arranging a pressure sensor or the like on the portion of the ottoman 105 where the feet are placed (for example, the upper surface of the placement portion 1). Furthermore, the massage machine 100 can also arrange treatment elements such as airbags and rollers, heaters for warming the soles of the feet, etc. on the portion of the ottoman 105 where the feet are placed (i.e., the upper surface of the placement portion 1). Therefore, the layout of the treatment elements, heaters, etc. can be designed more freely.

[0112] Moreover, the movement control unit 1073 can prevent the feet of the seated user from being pushed and moved in the direction H1 by the movement of the mounting unit 1 by stopping the movement of the mounting unit 1 and the storage unit 2 at the above-mentioned timing. Therefore, the massage machine 100 can support the feet of the user in an appropriate position with the mounting unit 1 without cramping the lower limbs (particularly the knees, lower legs, feet, etc.) of the user. Therefore, the user can receive treatment from the massage machine 100 in a comfortable state.

[0113] Preferably, when detecting the position of the foot (i.e., when the judgment unit 1072 judges whether or not the foot has come into contact with the support unit 1), the movement control unit 1073 moves the support unit 1 and the storage unit 2 in direction H2, and then moves the support unit 1 and the storage unit 2 in direction H1 from the ankle toward the knee of the person being treated.

[0114] In this way, the massage machine 100 can prevent starting to detect the position of the foot when the foot is already in contact (resting) on ​​the support portion 1. For example, when detecting the position of the foot, the massage machine 100 first moves the support portion 1 and the storage portion 2 in the direction H2 to sufficiently separate the support portion 1 (upper surface) from the foot (soles) of the seated massagee. Then, the massage machine 100 moves the support portion 1 and the storage portion 2 in the direction H1. This allows the massage machine 100 to reliably detect the timing when the foot comes into contact with the support portion 1 and the position of the support portion 1 at that timing (i.e., the position of the massagee's foot).

[0115] Furthermore, the massage machine 100 controls the actuator 7 to move the accommodation unit 2 supporting the lower leg of the user in the direction H0 relative to the frame 31. That is, the actuator 7 changes the distance between the accommodation unit 2 and the seat 101 in the direction H0. Therefore, the user can move the accommodation unit 2 to a more comfortable position, for example, by performing an input operation to change the position of the accommodation unit 2 in the direction H0. This effect is particularly effective when a treatment element (airbag, roller, etc.) for treating the lower leg is placed in the accommodation unit 2.

[0116] In the above example, when detecting the contact between the foot and the support unit 1, the massage machine 100 drives the actuator 4 and the actuator 7 to move the support unit 1 and the storage unit 2 in the direction H0. However, this is not limited to the example, and in the above example, the massage machine 100 may drive only one of the actuator 4 and the actuator 7. For example, the massage machine 100 may drive only the actuator 4 to move only the support unit 1 in the direction H0. Alternatively, the massage machine 100 may drive only the actuator 7 to move the support unit 1 and the storage unit 2 in the direction H0.

[0117] In the second embodiment, the actuator 4 is arranged between the (upper surface of) the placement portion 1 and the storage portion 2 so as to be extendable and retractable, and changes the distance between the (upper surface of) the placement portion 1 and the storage portion 2 in the direction H0. However, without being limited to this example, the actuator 4 may be arranged between the (upper surface of) the placement portion 1 and the frame 31 so as to be extendable and retractable, and changes the distance between the seat portion 101 and the (upper surface of) the placement portion 1 in the direction H0. That is, the end of the actuator 4 on the direction H1 side may be connected to, for example, the beam portion 312 of the frame 31. In this way, the massage machine 100 can detect the contact between the foot and the placement portion 1 by moving the placement portion 1 in the direction H0 by driving the actuator 4. That is, the massage machine 100 can detect the contact between the foot and the placement portion 1 by the same operation as in the first embodiment, regardless of the storage portion 2.

[0118] <2-1. Modification of the second embodiment> Next, a modified example of the second embodiment will be described with reference to Fig. 12. Fig. 12 is a rear view showing a configuration example of an ottoman 105 in a modified example of the second embodiment. Note that Fig. 12 shows the ottoman 105 as seen from the rear. Fig. 12 illustrates the main parts of the ottoman 105, and in order to make the main parts easier to see, exterior parts such as the housing member 21 (see Fig. 1), a cloth or leather cover arranged on the surface, and cushioning materials are omitted.

[0119] In the following, among the modifications of the second embodiment, configurations different from the first embodiment and its modifications, and the second embodiment will be described. Also, components similar to those in the first embodiment and its modifications, and the second embodiment will be given the same reference numerals, and descriptions thereof may be omitted.

[0120] In the modification of the second embodiment, the support sensor unit 8 of the second embodiment is the same as the sensor unit 5 of the first embodiment and its modification. In other words, the support sensor unit 8 is incorporated into the sensor unit 5. That is, the sensor unit 5 and the support sensor unit 8 are the same sensor unit 5a. The sensor unit 5a is another example of the "first sensor unit" of the present invention.

[0121] The sensor unit 5a has a plate member 51, a plurality of first openings 52, a first detection unit 53, and a second detection unit 55. The plate member 51 extends in the direction H0 and is immovable at least together with the placement unit 1 and the storage unit 2. The plurality of first openings 52 are disposed on the plate member 51 and are arranged at equal intervals in the direction H0. The first detection unit 53 has a configuration similar to that of the first and second embodiments, has a first light emitting unit and a first light receiving unit, and is fixed to the connection plate 224 of the storage unit 2. The first light receiving unit 532 faces the first light emitting unit 531 across the plate member 51. The first light emitting unit 531 emits light toward the first light receiving unit 532. The second detection unit 55 has a configuration similar to that of the detection unit 83 of the support sensor unit 8 in the second embodiment, has a second light emitting unit 551 and a second light receiving unit 552, and is disposed on, for example, the second beam unit 3122 of the frame 31. The second light receiving unit 552 faces the second light emitting unit 551 across the plate member 51. The second light emitting unit 551 emits light toward the second light receiving unit 552. Note that the sensor unit 5a (particularly the plate member 51) is disposed behind the actuator 4 (i.e., on the frame 31 side), and is therefore not in contact with the actuator 4. In addition, the sensor unit 5a may further have a second opening 54 (see FIG. 8) according to a modified example of the first embodiment.

[0122] The first light receiving section 532 of the first detection section 53 of the sensor section 5a outputs a first pulse signal Ps1 to the control section 107. The first pulse signal Ps1 is output based on the detection result of the light incident on the first light receiving section 532 through the first opening 52, and indicates a signal intensity A according to the detection of the light (see FIGS. 6A to 6C). Note that, when the sensor section 5a has the second opening 54, the first pulse signal Ps1 is output based on the detection result of the light incident on the first light receiving section 532 through the first opening 52 and the second opening 54 (see FIG. 9).

[0123] The second light receiving unit 552 of the second detection unit 55 of the sensor unit 5a outputs a second pulse signal Ps2 to the control unit 107. Similar to the first pulse signal Ps1 in the first embodiment (see FIGS. 6A to 6C), the second pulse signal Ps2 is output based on the detection result of the light incident on the second light receiving unit 552 through the first aperture 52, and indicates a signal intensity A corresponding to the detection of the light. When the sensor unit 5a has a second aperture 54, the second pulse signal Ps2 is output based on the detection result of the light incident on the second light receiving unit 552 through the first aperture 52 and the second aperture 54, similar to the first pulse signal Ps1 in the modified example of the first embodiment (see FIG. 9).

[0124] The control unit 107 controls the actuator 4 for the placement unit 1 based on the first pulse signal Ps1. Further, the control unit 107 controls the actuator 7 for the housing unit 2 based on the second pulse signal Ps2. In the modified example of the second embodiment, these actuators 4 and 7 are controlled in the same manner as the actuator 4 in the first embodiment and its modified example.

[0125] For example, when starting treatment on a seated patient, the massage machine 100 detects the position of the patient's feet based on the detection results of the positions and movements of the placement unit 1 and the storage unit 2 in the direction H0. At this time, the control unit 107 controls the actuator 4 based on the detection result of the first detection unit 53 and controls the actuator 7 based on the detection result of the second detection unit 55. Specifically, in the control unit 107, the calculation unit 1071 calculates the change in the position and movement speed of the placement unit 1 with respect to the storage unit 2 based on the detection result of the first detection unit 53, and calculates the change in the position and movement speed of the storage unit 2 with respect to the frame 31 based on the detection result of the second detection unit 55. Further, the calculation unit 1071 calculates the change in the position and movement speed of the placement unit 1 with respect to the frame 31 based on the above calculation results. The determination unit 1072 determines whether the foot (especially the sole of the foot) has come into contact with the placement unit 1 (the upper surface of the placement unit 1 of the placement unit 1) based on the speed change of the placement unit 1 when the actuator 4 is driven at a constant voltage and the speed change of the storage unit 2 when the actuator 7 is driven at a constant voltage. When it is determined that contact has occurred, the control unit 107 sets the position of the placement unit 1 with respect to the frame 31 to the position where the patient's foot has come into contact with the placement unit 1. The movement control unit 1073 controls the actuator 4 and the actuator 7. When the determination unit 1072 determines that the foot has come into contact with the placement unit 1, the movement control unit 1073 stops the movement of the placement unit 1 and the storage unit 2.

[0126] In the massage machine 100 according to the modification of the second embodiment, the first detection unit 53 corresponds to the sensor unit 5 of the second embodiment, and the second detection unit 55 corresponds to the support sensor unit 8 of the second embodiment. The detection process for contact with the placement unit 1 is carried out in the same manner as in the second embodiment.

[0127] In the massage machine 100 according to the modified example of the second embodiment, a linear scale encoder that detects light at two locations is used, so that a single sensor unit 5a can be used to control the movement of the placement unit 1, detect the position and movement of the feet, and control the movement of the storage unit 2. This allows the number of parts of the ottoman 105 to be reduced, thereby reducing costs and the number of manufacturing steps, and thus improving the productivity of the massage machine 100. In addition, since it is not necessary to arrange multiple sensor units 5, space can be saved. This allows the ottoman 105 to be configured compactly.

[0128] <4. Notes> The above describes the embodiments of the present invention. Note that the above embodiments are merely examples, and it will be understood by those skilled in the art that various modifications are possible in the combination of each component and each process, and that such modifications are within the scope of the present invention.

[0129] <5. Summary> The embodiments described thus far will be summarized below.

[0130] For example, the massage machine 100 disclosed herein may include: A placement portion 1 for placing the feet of a seated person to be treated; A first moving mechanism 4 that moves the placement unit 1 along the lower leg of the person to be treated; a first sensor unit 5, 5a for detecting a position and movement of the placement unit 1 in a first direction H0 in which the placement unit 1 moves; A control unit 107 that controls the first moving mechanism 4 based on the detection results of the first sensor units 5 and 5 a; Equipped with The control unit 107 a determination unit 1072 that determines whether or not a foot has come into contact with the placement unit 1 based on a change in the moving speed of the placement unit 1; a movement control unit 1073 that stops the movement of the placement unit 1 when the determination unit 1072 determines that the foot has come into contact with the placement unit 1; The present invention is configured as follows (first configuration).

[0131] The massage device 100 of the above-described first configuration is The determination unit 1072 may be configured (second configuration) to determine whether a foot has come into contact with the placement unit 1 when the first moving mechanism 4 moves the placement unit 1 in a second direction H1 approaching the seat portion 101 in the first direction H0.

[0132] The massage device 100 of the above-described second configuration is When the determination unit 1072 determines whether a foot has come into contact with the placement unit 1, the movement control unit 1073 may be configured (third configuration) to move the placement unit 1 in a third direction H2 away from the seat portion 101 in the first direction H0 and then move the placement unit 1 in the second direction H1.

[0133] Furthermore, the massage device 100 having any one of the above-described first to third configurations further includes a housing unit 2 for housing the lower leg of the subject, the first moving mechanism 4 varies the distance between the housing unit 2 and the placement unit 1, and the determination unit 1072 may be configured (fourth configuration) to determine whether a foot has come into contact with the placement unit 1 when the placement unit 1 moves in a direction (for example, the second direction H1) in which the distance between the placement unit 1 and the housing unit 2 decreases.

[0134] Furthermore, the massage device 100 having any one of the above-described first to fourth configurations the placement unit 1 includes a base plate portion 11 on which the foot of the subject rests, and a repulsion portion 13 disposed on the base plate portion 11, and further has the repulsion portion 13 includes a contact portion 131 that can come into contact with the sole of the seated subject, and an elastic member 132 disposed between the base plate portion 11 and the contact portion 131 and capable of expanding and contracting in the first direction H0, and may be configured (fifth configuration).

[0135] Further, the massage machine 100 having any one of the first to fifth configurations described above The first sensor unit 5 includes a plate member 51 in which a plurality of first openings 52 arranged at equal intervals in the first direction H0 are disposed, a detection unit 53 including a first light emitting unit 531 that emits light, and a first light receiving unit 532 that faces the first light emitting unit 531 with the plate member 51 interposed therebetween, and has The first light emitting unit 531 emits light toward the first light receiving unit 532, One of the plate member 51 and the detection unit 53 is movable in the first direction H0 together with the placement unit 1, During the movement of the one part in the first direction H0, the first light receiving unit 532 outputs a first pulse signal Ps1 corresponding to the light incident through the first opening 52 to the control unit 107. The control unit 107 may be configured (sixth configuration) to control the first moving mechanism 4 based on the interval of the first pulse signal Ps1.

[0136] Further, the massage machine 100 having any one of the first to sixth configurations described above includes a housing part 2 that supports the lower legs of the seated subject, a second moving mechanism 7 that moves the housing part 2 in the first direction H0, and a second sensor unit 8 for detecting the position and movement of the housing part 2 in the first direction H0, and further includes The control unit 107 may be configured (seventh configuration) to control the second moving mechanism 7 based on the detection result of the second sensor unit 8.

[0137] Further, the massage machine 100 having the sixth configuration The first sensor unit 5 may further have a second opening 54 disposed between the first openings 52 adjacent to each other in the first direction H0 between at least a part of the first openings 52 of the plate member 51 (eighth configuration).

[0138] Further, the massage machine having any one of the above-described first to eighth configurations, the first sensor unit 5 outputs a first pulse signal Ps1 including a plurality of pulses p0 arranged in time series indicating light detection at the first light receiving unit to the control unit 107, the control unit 107, monitors the first pulse signal Ps1 at regular time intervals, and determines that the foot has come into contact with the placement unit 1 at at least one of a point in time when a time width W1 from a first point in time when the pulse p0 is detected to a second point in time when the pulse p0 is next detected becomes equal to or greater than a time threshold Sw1, and a point in time when a change rate R1 of the time width W1 becomes equal to or greater than a change rate threshold Sr1 (ninth configuration).

[0139] Further, the massage machine having any one of the above-described first to eighth configurations, the first sensor unit 5 outputs a first pulse signal Ps1 including a plurality of pulses p0 arranged in time series indicating light detection at the first light receiving unit 532 to the control unit 107, the control unit 107, monitors the first pulse signal Ps1 at regular time intervals, and determines that the foot has come into contact with the placement unit 1 at at least one of a point in time when a time width W2 from a first point in time when the pulse p0 is not detected next to a point in time when the pulse p0 is detected to a second closest point in time when the pulse p0 is next detected becomes equal to or greater than a time threshold Sw2, and a point in time when a change rate R2 of the time width W2 becomes equal to or greater than a change rate threshold Sr2 (tenth configuration).

[0140] Further, the massage machine 100 having any one of the above-described first to eighth configurations, the first sensor unit 5 outputs a first pulse signal Ps1 including a plurality of pulses p0 arranged in time series indicating light detection at the first light receiving unit 532 to the control unit 107, the control unit 107, detects either a rising edge E1 or a falling edge E2 of each of the pulses p0, A configuration (the eleventh configuration) may be adopted in which it is determined that a foot has come into contact with the placement unit 1 at at least one of the time point when the time width W3 of the edge becomes equal to or greater than the time threshold Sw3 and the time point when the change rate R3 of the time width W3 becomes equal to or greater than the change rate threshold Sr3.

Explanation of Signs

[0141] 100 (chair type) massager 101 Seat part 102 Backrest part 1021 Treatment unit 103 Base part 104 Armrest part 105 Ottoman 1051 Shaft support part 1061 Operation part 1062 Memory part 107 Control part 1071 Arithmetic part 1072 Judgment part 1073 Movement control part 1081 Actuator group 1082 Air pump 1083 Solenoid valve group 1 Placement unit 11 Base plate part 12 L-shaped part 121 Support part 122 First slide rod 13 Rebound part 131 Contact part 132 Elastic member 2 Storage part 21 Storage member 22 Frame 221 U-arm 222 Column part 223 Second slide rod 224 Connection plate 3 Slide mechanism 31 Frame 311 Column part 312 Beam part 3121 First beam part 3122 Second beam part 3123 Third beam part 32 Slide members 4 Actuators 41 Cylinder 42 Rod 43 Brushless motor 5, 5a Sensor parts 51 Plate member 52 First opening 53 First detection part 531 First light emitting part 532 First light receiving part 54 Second opening 55 Second detection part 551 Second light emitting part 552 Second light receiving part 7 Actuators 71 Cylinder 72 Rod 73 Brushless motor 8 Support sensor part 81 Plate member 82 Opening 83 First detection part 831 First light emitting part 832 First light receiving part Ps1 First pulse signal Ps2 Second pulse signal p0 Pulse E1 Rising edge E2 Falling edge W1 First time width W2 Second time width W3 Third time width W4 Fourth time width Sw1, Sw2, Sw3, Sw4 Time threshold R1, R2, R3 Rate of change Sr1, Sr2, Sr3 Rate of change threshold

Claims

1. A placement part for placing the feet of the subject to be treated while seated, a first moving mechanism for moving the placement part along the lower leg of the subject to be treated, a first sensor part for detecting the position and movement of the placement part in a first direction in which the placement part moves, a control part for controlling the first moving mechanism based on the detection result of the first sensor part, comprising: The control part is a determination part for determining whether or not a foot has come into contact with the placement part based on a change in the moving speed of the placement part, and a movement control part for stopping the movement of the placement part when the determination part determines that a foot has come into contact with the placement part, A massage machine having the above.

2. The determination part determines whether or not a foot has come into contact with the placement part when the first moving mechanism moves the placement part in a second direction approaching the seat part among the first directions. The massage machine according to Claim 1.

3. When the determination part determines whether or not a foot has come into contact with the placement part, the movement control part moves the placement part in a third direction away from the seat part among the first directions, and then moves the placement part in the second direction. The massage machine according to Claim 2.

4. Further comprising a housing part for housing the lower leg of the subject to be treated, the first moving mechanism varies the distance between the placement part and the housing part, and the determination part determines whether or not a foot has come into contact with the placement part when the placement part moves in a direction in which the distance between the placement part and the housing part shrinks. The massage machine according to Claim 1.

5. The placement part further has a base plate part on which the feet of the subject to be treated are placed, and a repulsion part arranged on the base plate part, and further has: The repulsion part has a plate-shaped contact part that can come into contact with the sole of the foot of the subject to be treated while seated, and an elastic member arranged between the base plate part and the contact part and stretchable and contractible in the first direction. The massage machine according to Claim 1.

6. The first sensor part has a plate member on which a plurality of first openings arranged at equal intervals in the first direction are arranged, a first light emitting part for emitting light, and a detection part including a first light receiving part facing the first light emitting part with the plate member interposed therebetween, and has: The first light emitting part emits light toward the first light receiving part, one of the plate member and the detection part is movable in the first direction together with the placement part, and the first light receiving part outputs a first pulse signal corresponding to the light incident through the first opening to the control part during the movement of the one part in the first direction. The control unit controls the first moving mechanism based on the interval of the first pulse signal, the massage machine according to claim 1.

7. A housing portion that supports the lower leg of the seated subject, A second moving mechanism that moves the housing portion in the first direction, A second sensor unit for detecting the position and movement of the housing portion in the first direction, Further comprising The control unit controls the second moving mechanism based on the detection result of the second sensor unit, the massage machine according to claim 1.

8. The first sensor unit further has a second opening disposed between the first openings adjacent to each other in the first direction at at least a part of the first openings of the plate member, the massage machine according to claim 4.

9. The first sensor unit outputs a first pulse signal including a plurality of pulses arranged in time series indicating light detection at the first light receiving unit to the control unit, The control unit Monitors the first pulse signal every fixed time, From the first time point when the pulse is detected to the second time point when the pulse is detected next, when at least one of the time point when the time width becomes equal to or greater than the time threshold and the time point when the change rate of the time width becomes equal to or greater than the change rate threshold, it is determined that the foot has contacted the placement portion, the massage machine according to any one of claims 1 to 8.

10. The first sensor unit outputs a first pulse signal including a plurality of pulses arranged in time series indicating light detection at the first light receiving unit to the control unit, The control unit Monitors the first pulse signal every fixed time, and from the first time point when the next pulse is not detected after the time point when the pulse is detected to the nearest second time point when the pulse is detected next, when at least one of the time point when the time width becomes equal to or greater than the time threshold and the time point when the change rate of the time width becomes equal to or greater than the change rate threshold, it is determined that the foot has contacted the placement portion, the massage machine according to any one of claims 1 to 8.

11. The first sensor unit outputs a first pulse signal including a plurality of pulses arranged in time series indicating light detection at the first light receiving unit to the control unit, The control unit Detects either the rising edge or the falling edge of each of the pulses The massage apparatus according to any one of claims 1 to 8, wherein it is determined that the foot has come into contact with the placement unit at at least one of the time point when the time width of the edge becomes equal to or greater than the time threshold and the time point when the change rate of the time width becomes equal to or greater than the change rate threshold.

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