Percussive therapy device with active control

Abstract

The present invention generally relates to a massage device, and more specifically to a percussive therapy device that performs reciprocating motion. [Solution] A percussive therapy device comprising: a housing; a power supply; a motor located in the housing; a switch for operating the motor; and a routine controller configured to initiate a protocol configured to apply at least one output of the percussive therapy device in response to user input, and to initiate at least one step of the protocol applied to the percussive therapy device according to at least one output.

Description

[Technical Field]

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

[0002] The present invention generally relates to a massage device, and more specifically to a percussive therapy device that performs reciprocating motion. [Overview of the project] [Problems that the invention aims to solve]

[0003] Massage devices often perform superficial and ineffective massages that do not provide actual benefits. Therefore, improved massage devices are needed. Furthermore, percussive massage devices are often used ineffectively. Therefore, percussive therapy devices need to be automated to provide effective massage or recovery. [Means for solving the problem]

[0004] According to a first aspect of the present invention, a percussive therapy device or percussive massage device is provided, comprising: a housing; a power supply; a motor located in the housing; a switch for operating the motor; and a routine controller configured to initiate a protocol configured to apply at least one output of the percussive therapy device in response to user input, and to initiate at least one step of the protocol applied to the therapy device according to at least one output. The terms percussive massage device and percussive therapy device are understood to be used interchangeably throughout. These terms are synonymous and generally have the same meaning. Since the commercial embodiments of the applicant's device are commonly referred to as percussive therapy devices in the market, this term will be used here.

[0005] In a preferred embodiment, at least one output comprises one or more of the following: the duration for which the percussive therapy device is activated (by being turned on and off automatically or via user prompts); the speed of the attachment of the percussive therapy device (by being switched from one speed to another automatically or via user prompts); the force applied by the attachment (by the user using the device); the amplitude of the attachment; and the temperature of the attachment.

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

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

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

[0009] Another aspect of the present invention provides a method for performing a routine of a percussive therapy device. The method comprises initiating a protocol configured to apply at least one output of the percussive therapy device in response to user input, and performing at least one step of the protocol to which the percussive therapy device is applied according to at least one output. In a preferred embodiment, the at least one output includes one or more of the following: the duration for which the percussive therapy device is activated (automatically or by the user), the speed of the attachment of the percussive therapy device, the force of the attachment, the amplitude of the attachment, the type of attachment, the temperature of the attachment, the arm position of the percussive therapy device, and the grip of the percussive therapy device.

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

[0011] Another aspect of the present invention provides a method for performing a routine of a percussive therapy device, comprising: initiating a protocol configured to apply at least one output of the percussive therapy device in response to user input; and initiating at least one step of the protocol to which the percussive therapy device is applied, according to at least one output. The at least one output comprises one or more of the following: the duration for which the percussive therapy device is operated, the speed of an attachment of the percussive therapy device, the amplitude of the attachment, the force applied by the attachment, and the temperature of the attachment. The percussive therapy device prompts the user to use a designated grip of the percussive therapy device and to apply the attachment of the percussive therapy device to a designated part of the body when initiating the protocol; monitors a measured force applied by the attachment; displays the measured force to the user; and the measured force is configured to display the force to the user so that the force applied corresponds to a target force by at least one step of the protocol.

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

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

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

[0015] In a preferred embodiment, the motor is a brushless motor, the motor mount is located in the housing, the motor is fixed to the motor mount, and the motor mount is fixed to the housing. Preferably, the motor mount has a first side wall and a second side wall that define the interior of the motor mount. The motor is fixed to the first side wall, and the second side wall is fixed to the housing. In a preferred embodiment, the motor has a motor shaft that extends into the interior of the motor mount through a projection opening defined in the first side wall of the motor mount, and at least a portion of the pushrod assembly is located inside the motor mount.

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

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

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

[0019] According to another aspect of the present invention, a method of using a percussive therapy device is provided, the percussive therapy device comprising a housing, a power supply, a motor located in the housing, a switch for operating the motor, and a push rod assembly operably connected to the motor and configured to reciprocate in response to the operation of the motor. The method comprises operating the motor using the switch and gripping a first handle portion and massaging a first body portion, alternatively, gripping a second handle portion and massaging a first body portion, alternatively, gripping a third handle portion and massaging a first body portion. In a preferred embodiment, the first handle portion defines a first axis, the second handle portion defines a second axis, and the third handle portion defines a third axis, and the first, second, and third axes cooperate to form a triangle. In a preferred embodiment, the method further comprises gripping a second handle portion and massaging a second body portion and massaging a third body portion.

[0020] Another aspect of the present invention provides a percussive massage device comprising a housing, a power supply, a motor located in the housing, a switch for operating the motor, and a push rod assembly operably connected to the motor and configured to reciprocate in response to the operation of the motor. In a preferred embodiment, the housing has a first handle portion, a second handle portion, and a third handle portion which cooperate to define a handle opening, the first handle portion defining a first axis, the second handle portion defining a second axis, and the third handle portion defining a third axis, and the first axis, the second axis, and the third axis cooperate to form a triangle.

[0021] Preferably, the first handle portion includes the inner edge of the first handle portion and defines the length of the first handle portion, which is long enough so that when a user grips the first handle portion with their hand, at least a portion of three fingers extends into the opening of the handle and makes contact with the inner edge of the first handle portion. Preferably, the second handle portion includes the inner edge of the second handle portion and defines the length of the second handle portion, which is long enough so that when a user grips the second handle portion with their hand, at least a portion of three fingers extends into the opening of the handle and makes contact with the inner edge of the second handle portion. Preferably, the third handle portion includes the inner edge of the third handle portion and defines the length of the third handle portion, which is long enough so that when a user grips the third handle portion with their hand, at least a portion of three fingers extends into the opening of the handle and makes contact with the inner edge of the third handle portion. In a preferred embodiment, the first handle portion is substantially straight, the second handle portion is substantially straight, and the third handle portion is substantially straight. Generally, "straight" means that most of the handle portion is straight, but rounded edges or corners may be included where different handle portions meet or where the handle portion meets a bulge or finger protrusion, etc.

[0022] In a preferred embodiment, the switch has associated switch electronics, the power source is a battery housed in a second handle portion, and the switch electronics are housed in a first handle portion. Preferably, the motor is configured to rotate a pinion shaft having a pinion gear around a shaft rotation axis. The housing has a gear member that operably engages with the pinion gear and rotates around the gear rotation axis, and the gear member is disposed in the housing. A pushrod assembly is operably connected to the gear member, and the rotational motion of the pinion shaft is converted into reciprocating motion of the pushrod assembly by the engagement of the pinion gear and the gear member. The motor has an outwardly extending motor shaft, and a pinion coupling assembly is disposed between the motor shaft and the pinion shaft. The pinion coupling has an upper connector operably connected to the motor shaft, a lower connector operably connected to the pinion shaft, and a cross coupling disposed between the lower and upper connectors. In a preferred embodiment, the lower connector has a body portion defining a central opening that receives a motor shaft and outwardly extending first and second lower connector arms; the upper connector has a body portion defining a central opening that receives a pinion shaft and outwardly extending first and second lower connector arms; and the cross coupling has radially extending ribs and a first and second upper connector member that operably engage with the radially extending ribs. Preferably, the upper and lower connectors are made of plastic, and the cross coupling is made of elastomer.

[0023] In a preferred embodiment, the gear member is housed in a rotating housing that is rotatable between at least a first position and a second position. The gearbox housing housing the gear member is housed in the rotating housing. The gearbox housing has a clearance slot having defined first and second ends. The pushrod assembly extends through the clearance slot so that when the rotating housing is rotated from the first position to the second position, the pushrod assembly moves within the clearance slot from the part adjacent to the first end to the part adjacent to the second end.

[0024] In a preferred embodiment, the push rod assembly comprises a first rod portion having a proximal end and a distal end, and a second rod portion having a proximal end and a distal end. The proximal end of the first rod portion is operably connected to a motor. An adapter assembly is positioned between the first rod portion and the second rod portion. The adapter assembly allows the first rod portion to pivot relative to the second rod portion. Preferably, the adapter assembly has an adapter member having a pocket for receiving the distal end of the first rod portion. A pivot pin straddles the pocket and extends through the distal end of the first rod portion. In a preferred embodiment, the adapter member has a projection that is received by the proximal end of the second rod portion.

[0025] According to another aspect of the present invention, a massage device is provided comprising a housing, an electrical input unit, a motor, a switch configured to electrically communicate with the electrical input unit and the motor and to selectively supply power from the electrical input unit to the motor, an operating output unit configured to reciprocate in response to the operation of the motor, and a therapeutic structure operably connected to the distal end of the operating output unit. The operating output unit is configured to reciprocate the therapeutic structure with a frequency between approximately 15 Hz and approximately 100 Hz and an amplitude between approximately 0.15 inches and approximately 1.0 inches. The combination of amplitude and frequency provides efficient reciprocating motion of the therapeutic structure so that it provides therapeutically beneficial treatment to the user's target muscle.

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

[0027] According to another aspect of the present invention, a percussive massage device having a force meter is provided, comprising a housing, a power supply, a motor located in the housing, a switch for operating the motor, and a controller configured to acquire the voltage of the motor, generate a lookup table relating the voltage to the force applied by the percussive massage device, and to use the lookup table to display the magnitude of the force corresponding to the acquired voltage. In a preferred embodiment, the maximum magnitude of the force configured to be applied by the percussive massage device is determined, the maximum magnitude of the voltage configured to be applied from the power supply to the percussive massage device is determined, the lookup table is generated by dividing the maximum magnitude of the force into equal force increments, and dividing the maximum magnitude of the voltage into equal voltage increments. The number of equal force increments and the number of equal voltage increments are the same. Preferably, the percussive massage device further comprises a battery pack and a display configured to represent the amount of force applied by the percussive massage device. In a preferred embodiment, the display has a series of LEDs. In a preferred embodiment, the percussive massage device has an organic light-emitting diode screen.

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

[0029] Another aspect of the present invention provides a method for displaying the force of a percussive massage device, comprising: obtaining the voltage of the motor of the percussive massage device; generating a lookup table relating the voltage to the force applied by the percussive massage device; and using the lookup table to display the magnitude of the force corresponding to the obtained voltage. Preferably, the lookup table relating the voltage to the force is linear. Preferably, the lookup table is generated by determining the maximum magnitude of the force configured to be applied by the percussive massage device, determining the maximum magnitude of the voltage configured to be applied to the percussive massage device from a power source, dividing the maximum magnitude of the force into equal force increments, and dividing the maximum magnitude of the voltage into equal voltage increments, wherein the number of equal force increments and the number of equal voltage increments are the same.

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

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

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

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

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

[0035] In one embodiment, a non-temporary computer-readable medium stores software instructions that, when executed by the processor, cause the processor to perform the following actions: obtain the voltage of the motor of a percussive massage device; generate a lookup table that associates the voltage with the force applied by the percussive massage device; and use the lookup table to display the magnitude of the force corresponding to the obtained voltage.

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

[0037] In another embodiment, a non-temporary computer-readable medium stores software instructions that, when executed by the processor, cause the processor to perform the following actions: obtain the maximum power supply voltage of a percussive massage device; set the maximum power supply voltage to the maximum magnitude of the voltage; divide the maximum magnitude of the voltage into equal voltage increments, wherein the number of equal force increments and the number of equal voltage increments are the same; generate an updated lookup table that associates the force applied by the percussive massage device with the voltage and the voltage range determined by the maximum power supply voltage; and use the updated lookup table to display the calibrated force magnitude corresponding to the power supply voltage.

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

[0039] In one embodiment, a non-temporary computer-readable medium stores software instructions that, when executed by a processor, cause the processor to perform the following actions: obtain the magnitude of the current in the battery pack of a percussive massage device; obtain the magnitude of the voltage in the battery pack; determine the magnitude of the power using the magnitude of the current and the magnitude of the voltage in the battery pack; generate a lookup table that associates the power with the magnitude of the power applied by the percussive massage device; and use the lookup table to display the magnitude of the force corresponding to the obtained magnitude of the power.

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

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

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

[0043] The operating output may move via a reciprocating motion within a predetermined range. For example, the operating output may be configured to have an amplitude of 0.5 inches. In another embodiment, the operating output may be configured to have an amplitude of 1 / 4 inch. As will be understood by those skilled in the art, the operating output may be configured to have any amplitude that is considered therapeutically beneficial.

[0044] In some embodiments, the operating output may be adjustable by a variable range of reciprocating motion. For example, a reciprocating therapeutic device may have an input for adjusting the amplitude of the reciprocating motion from a quarter inch to a maximum of 1 inch. In a preferred embodiment, the operating output moves with an amplitude between about 0.15 inches and about 1.0 inch. In a more preferred embodiment, the operating output moves jointly or reciprocates at a frequency between about 0.23 inches and about 0.70 inches. In the most preferred embodiment, the operating output moves jointly or reciprocates at a frequency between about 0.35 inches and about 0.65 inches. Any selected range within the specified range is within the scope of the present invention.

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

[0046] In certain embodiments, the reciprocating therapy device has one or more components that adjust the joint motion velocity of the operating output in response to various levels of power supplied by the power input. For example, the reciprocating therapy device may have a voltage regulator (not shown) for supplying a substantially constant voltage to the motor over a range of input voltages. In another embodiment, the current supplied to the motor may be adjusted. In some embodiments, the operation of the reciprocating therapy device may be limited in response to the input voltage falling below a preset value.

[0047] In a preferred embodiment, the percussive massage device has a brushless motor. It is understood that a brushless motor does not have gears and is quieter than a geared motor.

[0048] The device has a push rod or shaft that is directly connected to a motor by a pin. In a preferred embodiment, the push rod is L-shaped or has an arc shape. Preferably, the point where the push rod is connected to the pin is offset from the reciprocating path on which the distal end 40 of the push rod (and massage attachment) travels. This function is provided by the arc or L shape. It should be understood that the push rod is designed so that the motor can be positioned in or near the center of the device, as a projection is needed to offset the motor and hold (and position) the shaft in the center if the motor cannot be positioned in or near the center of the device. The arc allows the push rod to have a close clearance with the motor and allows the external housing to be smaller than that of similar prior art devices, and thus the sides of the device can be lowered further. Preferably, two bearings are included in the proximal end of the push rod that connects to the motor to counteract oblique forces and prevent the push rod from contacting the motor as it moves. It is included in the proximal end of the pushrod and is connected to the motor to counteract oblique forces, preventing the pushrod from moving the motor and making contact.

[0049] In a preferred embodiment, the device has a touchscreen for stopping, starting, operating, etc. The touchscreen may have other functions. Preferably, the device has a thumbwheel or rolling button located near the touchscreen / on / off button to allow the user to scroll or navigate through various functions. Preferably, the device also includes a variable amplitude or stroke. For example, the stroke can be changed or made to change between approximately 8 and 16 mm.

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

[0051] In a preferred embodiment, the app includes Near Field Communication ("NFC") functionality or other functionality enabled by the user's mobile device with the app installed, which enables scanning of identifiers such as barcodes or QR codes® that prompt the app to display predetermined information, such as the routine described above. During use, the user can tap their mobile device or place it near an NFC tag on the gym equipment (or scan a QR code®), and the app will display customized instructions, content, or lessons for using the equipment, depending on the equipment. For example, with a treadmill, when the user scans a QR code® or NFC tag, the app recognizes that the user is about to use the treadmill. The app can provide instructions on how to use the equipment in conjunction with the treadmill and can initiate a pre-programmed routine for using the treadmill. For example, the app can instruct the user to start with the left quad. Then, after a predetermined time (e.g., 15 seconds), the equipment vibrates or provides other haptic feedback. The user then switches to the left quad, and after a predetermined time, the equipment vibrates again. The user can then begin using the treadmill. Any routine is within the scope of the present invention. In one embodiment, the device and / or app (i.e., a mobile device including the app) can also communicate with the gym equipment (e.g., a treadmill) (via Bluetooth®, etc.).

[0052] The device may have a torque or force meter to inform the user of the amount of force being applied. A display associated with the force meter shows the amount of force being applied to the muscle. The force meter enables more accurate and effective treatment. The device has a torque measuring sensor and a display. The force that needs to be applied will vary depending on the muscle being used and the benefits the user is seeking (preparation, execution, recovery). Having a torque sensor allows the user to receive more accurate and personalized treatment. An app and touchscreen can provide the user with force information. The force meter can be integrated into a routine, and the user can provide feedback on whether the pressure is too high or too low. The device may have a thermal sensor or thermometer that can determine the temperature of the user's muscle and provide feedback to the device and / or app. Tactile feedback can also provide feedback on excessive pressure or force.

[0053] In a preferred embodiment, the percussive massage device has a motor mount for mounting a brushless motor to a housing and for distributing force from the motor to the housing when the motor is operating. The motor is fixed to a first side of the motor mount, and a second side or the opposite side of the motor mount is fixed to the housing. The motor mount has a plurality of arms that separate the motor from the housing and define a reciprocating space for the push rod and associated components (such as counterweights) to reciprocate. A screw fastener connects the motor mount to the housing. In a preferred embodiment, damping members or legs are received on the shaft of a threaded fastener. Each damping member has an annular slot defined therein. The annular slot receives the housing. This prevents the threaded fastener from directly contacting the housing and reduces vibration noise. The threaded fastener is received in openings of tabs at the ends of the arms.

[0054] In a preferred embodiment, the motor is housed in a motor housing that is rotatable within the main housing. The motor housing is essentially equivalent to the gearbox housing in the associated embodiment. In a preferred embodiment, there are opposing openings on the outside of the motor housing that expose the motor on one side and the motor mount on the other side. The openings provide ventilation to the motor and allow the motor mount to be directly connected to the main housing.

[0055] In a preferred embodiment, the device has a touchscreen and buttons for operating the device. For example, the device may have a touchscreen, a central button for turning the device on and off, and ring / rocker buttons that provide functions for left and right scrolling (e.g., for preset processing as described herein) and up and down scrolling (e.g., for controlling speed or frequency). The screen may also be non-touchscreen.

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

[0057] In a preferred embodiment, the device has a touchscreen for stopping, starting, operating, etc. The touchscreen may also have other functions. Preferably, the device has a thumbwheel or rolling button located near the touchscreen / on / off button to allow the user to scroll or navigate through different functions.

[0058] The present invention can be more easily understood by referring to the following attached drawings. [Brief explanation of the drawing]

[0059] [Figure 1] This is a side view of a percussive massage device according to a preferred embodiment of the present invention. [Figure 1A] This is another side view of the percussive massage device shown in Figure 1. [Figure 2] This is a perspective view of a percussive massage device. [Figure 3] This is a side view of a percussive massage device showing a user holding the first handle. [Figure 4] This is a side view of a percussive massage device showing a user holding the third handle. [Figure 5] This is a side view of a percussive massage device showing a user holding the second handle. [Figure 6] This is an exploded perspective view of a percussive massage device. [Figure 7] This is an exploded perspective view of some of the drive train components of a percussive massage device. [Figure 8] Another exploded perspective view of a part of a percussive massage device. [Figure 9] This is a perspective view of the drive train component of a percussive massage device. [Figure 10] This is a perspective view of the push rod assembly for a percussive massage device. [Figure 11] This is a perspective view of another percussive massage device. [Figure 12] Figure 11 is a side view of the percussive massage device. [Figure 13] This is a side view of a percussive massage device, with some internal components indicated by hidden lines. [Figure 14] These are some exploded perspective views of the internal components of a percussive massage device. [Figure 15] This is a perspective view of another percussive massage device. [Figure 16]Figure 15 is a side view of the percussive massage device. [Figure 17] This is a block diagram showing the interconnected components of a percussive massage device with a force meter. [Figure 18] This is a circuit diagram of a microcontroller unit having pin outputs according to one embodiment. [Figure 19] This is a circuit diagram used for battery voltage detection according to one embodiment. [Figure 20] This is a circuit diagram for detecting and measuring the voltage of a motor in a percussive massage device according to one embodiment. [Figure 21] This flowchart illustrates a method for detecting the force applied by a percussive massage device according to a preferred embodiment. [Figure 22] This flowchart illustrates how to generate a lookup table that correlates voltage and force. [Figure 23] This is a graph plotting a lookup table for use by a method for detecting the force applied by a percussive massage device, which is generated by associating voltage and force according to a preferred embodiment. [Figure 24] This flowchart illustrates a method for calibrating a lookup table according to a preferred embodiment. [Figure 25] This graph plots a look-up table generated by a method for detecting the force applied by a percussive massage device against a look-up table that has been calibrated using a method for calibrating a look-up table according to a preferred embodiment. [Figure 26] This is a flowchart showing how to calibrate a lookup table. [Figure 27] This is a graph plotting a lookup table after it has been calibrated according to a preferred embodiment. [Figure 28] This flowchart illustrates a method for detecting the force applied by a percussive massage device according to a preferred embodiment. [Figure 29]This flowchart illustrates a method for generating a lookup table that associates power and force according to a preferred embodiment. [Figure 30] This is a graph plotting a lookup table for use by a method for detecting a force generated by relating power and force according to a preferred embodiment. [Figure 31] This flowchart illustrates a method for calibrating a lookup table according to a preferred embodiment. [Figure 32] This is a graph plotting a calibrated lookup table according to a preferred embodiment. [Figure 33] This is a perspective view of a percussive massage device according to a preferred embodiment of the present invention. [Figure 34] Figure 17 is a perspective view of the percussive massage device with a portion of the housing removed. [Figure 35] This is a perspective view of the motor. [Figure 36] This is a side view of a percussive massage device according to a preferred embodiment of the present invention. [Figure 37] This is another side view of the percussive massage device. [Figure 38] This is a side view of a percussive massage device showing a user holding the first handle. [Figure 39] This is a side view of a percussive massage device showing a user holding the third handle. [Figure 40] This is a side view of a percussive massage device showing a user holding the second handle. [Figure 41] Figure 18 is a perspective view of the percussive massage device with part of the housing removed. [Figure 42A] This is a cross-sectional view of the head section and motor. [Figure 42B] This is a cross-sectional view of the head section and motor. [Figure 43] Figure 33 shows some exploded views of the internal components of the percussive massage device. [Figure 43A]This is an exploded view of the motor and motor mount. [Figure 44] This chart shows the steps of Protocol 1, illustrating how to perform a routine using a percussive massage device. [Figure 45] This chart shows the steps of the "shin splint" protocol, illustrating how to perform a routine using a percussive massage device. [Figure 46A] This is a method for performing routines with a percussive massage device. [Figure 46B] This is a method for performing routines with a percussive massage device. [Figure 46C] This is a method for performing routines with a percussive massage device. [Figure 46D] This is a method for performing routines with a percussive massage device. [Figure 47] This is a front view of the graphical user interface demonstrating the "TechNeck" protocol. [Figure 48] This is a front view of the graphical user interface showing the "right biceps muscle." [Modes for carrying out the invention]

[0060] Similar numbers indicate the same part across multiple drawings in the diagram.

[0061] The following descriptions and drawings are illustrative and should not be construed as limiting. Numerous specific details are described in order to provide a complete understanding of this disclosure. However, in certain examples, well-known or prior art details are omitted to avoid obscuring the description. References to one embodiment of this disclosure do not necessarily refer to the same embodiment, and such references mean at least one embodiment.

[0062] Any reference in this specification to “one embodiment” or “embodiment” means that a particular feature, structure, or characteristic described in relation to the embodiment is included in at least one embodiment of the disclosure. The phrase “in one embodiment” appearing in various places in this specification does not necessarily all refer to the same embodiment, nor does it mean that other embodiments are separate or alternative embodiments that exclude each other. Furthermore, various features that may be shown in some embodiments but not in others are described. Similarly, various requirements that may be required in some embodiments but not in others are described.

[0063] The terms used herein generally have their usual meanings in the Art, within the context of this disclosure, and in the specific context in which each term is used. Specific terms used to describe the disclosure are described below or elsewhere herein to provide additional guidance to practitioners regarding the description of the disclosure. For convenience, certain terms may be emphasized, for example, using italics or quotation marks. The use of emphasis does not affect the scope and meaning of the terms, which are identical in the same context whether emphasized or not. It is understood that the same thing can be said in multiple ways.

[0064] Therefore, alternative languages ​​and synonyms may be used for any one or more of the terms discussed herein. Whether or not a term is described in detail herein does not imply any special meaning. Synonyms are provided for specific terms. The description of one or more synonyms does not preclude the use of other synonyms. The use of examples anywhere in this specification, including examples of any term discussed herein, is illustrative only and is not intended to further limit the scope and meaning of the terms disclosed or illustrated. Similarly, this disclosure is not limited to the various embodiments provided herein.

[0065] Without intending to further limit the scope of the disclosure, examples of apparatus, apparatus, methods, and related results according to embodiments of this disclosure are given below. For the convenience of the reader, titles or subtitles may be used in the examples, and it should be noted that these do not limit the scope of the disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as generally understood by those skilled in the art relating to this disclosure. In case of any conflict, the definitions in this document shall prevail.

[0066] It should be understood that terms such as “front,” “rear,” “upper,” “lower,” “side,” “short,” “long,” “up,” “down,” and “back” used herein are merely for the purpose of facilitating explanation and refer to the orientation of the components as shown in the figures. It should be understood that any orientation of the components described herein falls within the scope of the present invention.

[0067] Many embodiments are described herein, but at least some of the embodiments described provide instruments, systems, and methods for reciprocating therapeutic devices.

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

[0069] As shown in Figure 1, the first handle portion 143 defines the first handle portion axis A1, the second handle portion 145 defines the second handle portion axis A2, and the third handle portion 147 works together to define the third handle portion axis A3, forming a triangle. In a preferred embodiment, the battery 114 is housed in the second handle portion 145, and the motor 106 is housed in the third handle portion 147.

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

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

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

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

[0074] As shown in Figure 7, the device has a pinion coupling assembly 216 positioned between the motor and the pinion shaft or shaft gear 117 (located on the shaft or pinion shaft 116). The pinion coupling assembly 216 is used to couple the motor to the gearbox so that torque is fully transmitted with minimal radial movement, vibration and noise. The pinion coupling assembly 216 preferably has three distinct components: a lower connector 218, a cross coupling 220, and an upper connector 222. In a preferred embodiment, the lower connector 218 has a body portion 218a defining a central opening 218b that receives the motor shaft 248 and outwardly extending first and second lower connector arms 218c. The upper connector 122 has a body portion 222a defining a central opening 122b that receives the pinion shaft 117 and outwardly extending first and second upper connector arms 222c. Preferably, the cross coupling 220 has radially extending ribs 220a that define the channel 220b. The first and second lower connector arms 218c and the first and second upper connector arms 222c are sized and shaped to be received in the channel 220b so as to operably engage with the radially extending ribs. During use, the motor shaft 248 rotates the pinion coupling assembly, and the pinion coupling assembly rotates the pinion shaft 117. These components cooperate to reduce noise and vibration. In preferred embodiments, the lower and upper connectors are made of plastic, and the cross coupling is made of elastomer. In preferred embodiments, the cross coupling 220 is made of rubber having a hardness that isolates vibrations generated by the motor while maintaining strength and efficiently transmitting torque (without significant energy dissipation). However, the materials are not limiting to the present invention.

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

[0076] As shown in Figures 7-9, in one embodiment, the gearbox 404 includes a gear member 304 and a reciprocator or push rod 230 / 310. Preferably, the gear member 304 has a shaft 246 extending therefrom to which the reciprocator 310 is connected. The gearbox 404 can provide mounting points for the gear member 304 and the reciprocator 310. The gearbox 404 can restrict the movement of the gear member 304 and the reciprocator to a specific direction or axis of rotation. The gearbox 404 can be mounted in the housing 101. In some embodiments, the gearbox 404 is detached from the housing 101 by one or more compliant damping blocks 402.

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

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

[0079] As shown in Figure 9, the gearbox housing 404 has a clearance slot 214 defined for the pushrod assembly 108. The slot 114 is provided to allow the pushrod assembly 108 to move freely and the rotary housing 44 to articulate. The clearance slot 214 has a first end 214a and a second end 214b. As shown in Figure 9, the pushrod assembly 108 extends through the clearance slot 210. It is understood that as the rotary housing 44 rotates from a first position to a second position, the pushrod assembly 108 moves within the clearance slot 210 from its first end to its second end.

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

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

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

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

[0084] Figures 11-16 show embodiments of percussive massage devices similar to the percussive massage device 212 described above, but without a rotating assembly. The device 208 shown in Figures 11-14 is commercially referred to as G3. The device 210 shown in Figures 15-16 is commercially referred to as LIV. As shown in Figure 13, in a preferred embodiment, the switch 104 has a switch electronic device 575 associated with the switch 104. The switch electronic device 575 may have a printed circuit board (PCB) and other components, thereby enabling the switch 104 to operate the motor 106, change the motor speed, and turn the device on and off, among other tasks. As shown in Figure 13, in a preferred embodiment, the motor 106 is housed in a third handle portion 147, the battery 114 is housed in a second handle portion 145, and the switch electronic device 575 is housed in a first handle portion 143. This configuration also applies to devices 210 and 212. Figure 14 shows a cushioning member 577 surrounding the gearbox 404 and helping to dampen and reduce noise and vibration generated by the components of the gearbox. The cushioning member 577 is similar to the internal suspension ring 219 of the equipment 212. However, the cushioning member 577 is thicker and does not need to rotate because the rotating housings of the equipment 208 and 210 are excluded. The cushioning member 577 has notches or channels 579 to allow clearance for components such as the pushrod assembly and pinion shaft.

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

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

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

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

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

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

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

[0092] In one embodiment, the voltage control unit 707 is a DC voltage regulator that steps down 5 volts to 3.3 volts for use by the microcontroller unit 701. The voltage control unit 707 may perform additional functions for managing the 3.3 volts of power used by the microcontroller unit 701. In one embodiment, the voltage control unit 707 is implemented using a set of electronic components, such as an implementation of a resistor divider using electronic components. In another embodiment, the voltage control unit 707 is a standalone voltage regulator module and / or device designed to step down the voltage from 5 volts to 3.3 volts. Those skilled in the art will understand the various methods and devices available for stepping down from 5 volts to 3.3 volts.

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

[0094] In one embodiment, the display 709 displays a series of LEDs representing the amount of force applied by a percussive massage device having a force meter 700. In an alternative embodiment, the display 709 displays a series of LEDs representing the current battery or battery pack charge of the percussive massage device having a force meter 700. In yet another embodiment, the display 709 displays a series of LEDs indicating the current speed of the percussive massage device with a force meter 700. Those skilled in the art will recognize that, even though LEDs are specified in the above embodiments, other embodiments that do not use LEDs, such as liquid crystal displays, OLEDs, CRT displays, or plasma displays, are also within the scope of this disclosure. Those skilled in the art will understand that in embodiments utilizing batteries or battery packs, it may be advantageous to use low-power options to ensure battery power life. In one embodiment, the display 709 is a 128 x 64 pixel OLED display.

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

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

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

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

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

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

[0101] Figure 18 shows a schematic of a microcontroller unit 701 having pin outputs. In this embodiment, an STM32F030K6 series microcontroller unit is used. The schematic shows +3.3 volts of power supplied to the VDD input of the microcontroller unit 701. Input PA3 is labeled “Motor_VOL”, which is the voltage of the motor 713. Input PA2 is “bt_V”, which is the voltage of the battery or battery pack. The microcontroller unit is configured to receive analog voltages at inputs PA2 and PA3 and convert them to digital voltages using the microcontroller's analog-to-digital converter. In this embodiment, the analog-to-digital converter is a 12-bit ADC. Those skilled in the art will understand that other microcontrollers may utilize voltage sensing and analog-to-digital converters to perform similar functions. In yet another embodiment, a separate analog-to-digital converter module may be used, separate from the microcontroller.

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

[0103] Figure 20 shows a circuit diagram for detecting and measuring the voltage of the motor 713 of a percussive massage device. In this embodiment, a voltage sensing resistor 529 is coupled in parallel with the microcontroller unit 701 and also coupled to the motor 713. In one embodiment, the voltage sensing resistor has a value of 0.0025V. The circuit shown in Figure 20 is configured to provide the Motor_VOL input to the microcontroller unit 701 in Figure 17. In one embodiment, the input analog voltage is amplified. In another embodiment, the voltage of the motor 713 is measured or detected using a separate set of electronic components or standalone equipment and input to a microprocessor for use in a manner that displays force to the percussive massage device.

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

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

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

[0107] Figure 22 is a flowchart showing a method 900 for generating a lookup table that correlates voltage and force. In step 902, the maximum magnitude of the force F MAX Determine F MAX The magnitude of F may be determined by evaluating the maximum desired force to be applied using a percussive massage device equipped with a force meter 700. As an example, F MAX That is a force of 60 pounds.

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

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

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

[0111] In step 910, a lookup table (LUT) is generated that correlates the increments in force pounds with the increments in voltage. This inevitably creates a linear relationship between force and voltage. Figure 23 is a graph plotting the LUT for use by the force detection method in Figure 21, generated using the specific example identified in Figure 22. The graph shows the forces calculated using method 900.

[0112] There may arise a problem that the assumption of the theoretical maximum voltage in step 904 of method 900 is inaccurate. When using a percussion massaging device having a force meter 700, the maximum voltage available for use may decrease over time. In other words, the voltage of the battery or battery pack may decrease.

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

[0114] In step 1004, V MAX is set to the output of BV with the actual battery voltage magnitude. For example, when it decreases from 1.8 volts to 1.74 volts, it decreases by 0.6 volts. In step 1006, the LUT linear correlation is adjusted to reflect a lower V MAX . FIG. 25 is a graph plotting the LUT calculated by method 1000 against the LUT calibrated using method 1000. The LUT obtained from method 1000 represents the calibrated force rather than the calculated force.

[0115] Figure 26 is a flowchart showing method 1100 for calibrating the LUT. Method 1100 may be performed after method 900 or completely separately from method 900. In step 1102, the battery pack voltage BV is measured. In one embodiment, the measurement is performed without applying force from a percussive massage device having a force meter 700. In one embodiment, the battery pack voltage BV is measured using an external voltmeter. In another embodiment, the battery pack and / or microcontroller unit 701 has an integrated solution for directly measuring the battery pack voltage BV.

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

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

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

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

[0120] Figure 29 is a flowchart showing a method 1300 for generating a lookup table that correlates power and force. In step 1302, the maximum magnitude of power F MAX This determines the total effective power (EP). However, if the total effective power can be calculated, the maximum theoretical power is not a reasonable assumption. MAX Equation 1 may be used to determine ).

number

[0121] You can also use Equation 2 to substitute the calculated Total EP into Equation 1.

number

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

[0123] In this embodiment, P MAX As shown in Equation 3, the maximum voltage V of the battery pack MAX Maximum amperage C MAX It is calculated by multiplying by P. MAX Substitute this into Equation 1.

number

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

[0125] Now, returning to equation 1, P MAX If the power consumption is 336 watts and the Total EP is 60.5625%, then the Total EP MAX It is 203 watts.

[0126] In step 1304, the minimum amount of power P MINDetermine the force. It is recognized by those skilled in the art that the force when no force is applied (i.e., no load) is non-zero. Therefore, 12 watts P MIN Assume that P MIN It is also understood that the value of V corresponds to the rated power under no load. MAX and C MIN It can also be derived from this.

[0127] In step 1306, the maximum magnitude of the force F MAX Determine F MAX The magnitude of F may be determined by evaluating the maximum desired force to be applied using a percussive massage device equipped with a force meter 700. As an example, F MAX That is a force of 60 pounds.

[0128] In step 1308, Total EP MAX It is divided into equal increments. In one embodiment, Total EP MAX P MIN Starting at (12 watts), divide the force into increments of 3 watts for every pound of force. MAX If the force is 60 pounds, then the total desired force output of the percussive massage equipment with a force meter of 700 is calculated as Total EP. MAX It is recognized by those skilled in the art that a force of 60 pounds is equivalent to 189 watts.

[0129] In step 1310, a LUT is generated that correlates the increment of force in pounds with the increment of power in watts. This inevitably creates a linear relationship between force and voltage. Figure 30 is a graph plotting the LUT for use by the force detection method in Figure 28, generated using the specific example identified in Figure 25. The graph shows the forces calculated using method 1200.

[0130] Similar to Method 900, a problem may arise where the measured voltage of the battery pack measured in step 1204 of Method 1200 is inaccurate. The maximum available voltage may also decrease over time due to the use of percussive massage equipment with a force meter 700. In other words, the voltage of the battery or battery pack may decrease.

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

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

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

[0134] Figures 33–35 hereby show an exemplary percussive massage device 400 that embodies, in particular, the features disclosed in Figures 17–48 (or Figures 1–16). Generally, the percussive massage device 400 comprises a housing 402, a power supply or battery pack 404, a motor 406 located within the housing 402, and a switch 405 for operating the motor 406. The electronics (see printed circuit board 408 in Figure 34) comprises a controller configured to acquire the motor voltage and generate a lookup table relating the voltage to the force applied by the percussive massage device, and a display that shows the magnitude of the force corresponding to the voltage acquired using the lookup table. [End of 5063]

[0135] Figures 36-43A show further illustrations of the percussive massage device 400. Figures 36 and 37 are similar to Figures 1 and 1A and show the percussive massage device 400, which has a first handle portion 143, a second handle portion 145, and a third handle portion 147 that work together to define a handle portion 149. For explanations of other reference numerals and features shown in Figures 36-40, see at least the descriptions in Figures 1-5. All of the above features and components relating to a percussive therapeutic device or percussive massage device may be included in the percussive massage device 400.

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

[0137] In a preferred embodiment, the device has a push rod or shaft 14 directly connected to a shaft 16 rotated by a motor 406 and a motor shaft 21 extending therefrom. The shaft 16 may be part of a counterweight assembly 17 having a counterweight 19. In a preferred embodiment, the push rod 14 is L-shaped or has an arc shape, as shown in Figures 42A-42B. Preferably, the point where the push rod 14 connects to the shaft 16 is offset from the reciprocating path on which the distal end 18 of the push rod 14 (and massage attachment 628) travels. This function is provided by the arc or L shape. It should be understood that the push rod 14 is designed so that the motor can be positioned in or near the center of the device, in which case a projection is needed to offset the motor and hold (and position) the shaft in the center, so that the force is transmitted at least partially obliquely or arc-shaped along its shape rather than vertically. The arc allows the push rod 14 to have close clearance with the motor, as shown in Figures 42A and 42B, enabling the external housing to be smaller than that of similar conventional equipment, and thus further lowering the sides of the equipment 400. Figure 42A shows the push rod 14 at the bottom dead center of movement, and Figure 42B shows the push rod 14 at the top dead center of movement. Preferably, one or more bearings 20 are included at the proximal end of the push rod 14 that connects to the motor to counteract oblique forces and prevent the push rod 14 from coming into contact with the motor 406 as it moves. The bearings 20 are received on the shaft 16, and the threaded fasteners 26 are received in the coaxial opening 16a of the shaft 16. The proximal end of the push rod 14 is received on the bearings 20. All of these components are shown in Figure 43.

[0138] As shown in Figure 33, in a preferred embodiment, the device 400 has a touchscreen 409 (also referred to here as touchscreen 1582 in relation to the method steps) and one or more buttons for operating the device (e.g., stop, start, activate, change speed or amplitude, etc.). The touchscreen 409 may also have other functions. The device 400 may also have a thumbwheel or rolling button located near the touchscreen / on / off button to allow the user to scroll or navigate through various functions. Touchscreen 409 for operating the device. In the embodiment shown in Figure 33, the device 400 has a touchscreen 409, a central button 404 for turning the device on and off, and a ring / rocker button 447 that provides the ability to perform left and right scrolling (e.g., for preset processing described here) and up and down scrolling (e.g., for controlling speed or frequency). The screen can be non-touchscreen or can simply be used for display.

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

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

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

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

[0143] In a preferred embodiment, the device 400 is associated with and can be operated by an app or software running on a mobile device such as a phone, watch, or tablet (or any computer). The app can connect to the device 400 via Bluetooth® or other wireless connection protocols. The app may have any or all of the following functions. Furthermore, any of the functions described herein can be directly added to the device's touchscreen / scroll wheel or (one or more) button functions. The device will not function or operate if the user is walking or if the user is too far away from the device. The device can be turned on and off using the app and the device's touchscreen or buttons. The app can control a variable speed (for example, anywhere between 1750 and 3000 RPM). A timer can be implemented to stop the device after a predetermined time.

[0144] In a preferred embodiment, the device has different treatment protocols or routines associated with it, via an app or touchscreen and other function buttons, etc. During a routine, the device can change various aspects or outputs of the device, or make changes based on time, speed (frequency), amplitude (stroke), arm position, force, temperature, grip (i.e., the handle portion for gripping), attachments (e.g., cones, balls, dampers, etc.), and body parts. The device can also prompt the user to make these changes, e.g., changes in arm position, grip, attachments, or body parts, at specific points during the routine (via app, touchscreen, haptic feedback, or voice via speaker). Those skilled in the art will understand that one or more of these outputs may be applicable depending on the specific design of the device, while all the options described may be applicable to other devices.

[0145] When the protocol is selected to begin, the device executes a pre-programmed routine. For example, the device may operate at a first RPM in a first period and then at a second RPM in a second period, and / or operate at a first amplitude in a first period and then at a second amplitude. The routine may also have prompts (such as haptic feedback) to inform the user of moving to a new body part. These routines or treatments may be related to recovery, increased blood flow, performance, etc., and each may have a pre-programmed routine or protocol. These routines may also help facilitate certain activities, such as sleep, interval training, stairs, post-running, post-workout, recovery, wellness, post-core exercise, and high-intensity (plyometric) training. Routines may also help provide relief and recovery from conditions such as plantar fasciitis, "tech neck," muscle cramps, jet lag, sciatica, carpal tunnel syndrome, knots, and shin splints. The routine may prompt or instruct the user to switch the position of an attachment (e.g., attachment 628 shown in Figure 40) or an arm or rotating housing. Prompts may include sound, haptic feedback (e.g., vibration of the device or mobile device), textual instructions, or visual representations such as graphics or images on an app or touchscreen. For example, an app may instruct the user to start with a ball attachment with the arm at position 2. The user then presses start, and the device runs for a predetermined time at a first frequency. The app or device then prompts the user to start the next step of the routine, instructing the user to switch to a cone attachment and position the arm at position 1 (see, for example, the arm position in Figure 38). The arm can have any number of positions, for example, positions 1-10, 1-3, or 1-2. Figures 38-40 show the arm in three different positions. The user presses start again, and the device runs for a predetermined time at a second frequency.The protocol can be divided into steps, in which various outputs are predetermined or specified.

[0146] In a preferred embodiment, the device 400 includes a housing 402 (or 101), a power supply 114, a motor 406 located in the housing 402, a switch 405 (which can be a touchscreen 409, a rocker button 447, a button 404, or any other switch or button) for operating the motor 406, and a routine controller 630. The device 400 is configured to connect to an attachment 628. The attachment may be, for example, the attachment 628 shown in Figure 38. The attachment is mounted to a male connector 110 such that a shaft or pushrod assembly 108 moves the attachment relative to each other according to a specified amplitude. For example, the amplitude is shown in Figures 42A and 42B, where Figure 42A shows the attachment in its maximum extension position and Figure 42B shows the attachment in its minimum extension position. In one embodiment, the distance between the maximum and minimum extension positions can define the amplitude.

[0147] Attachment 628 can be a variety of attachments configured to provide therapeutic relief to specific parts of the body. For example, Attachment 628 can be a standard ball attachment intended for holistic use in both large and small muscle groups (see U.S. Patent Application Publication 29 / 677,157, which is incorporated herein by reference in its entirety). Attachment 628 can be a cone attachment for pinpoint muscle treatment, trigger points, and areas of small muscles such as the hands and feet (see U.S. Patent Application Publication 849,261, which is incorporated herein by reference in its entirety). Attachment 628 can also be a damper attachment used for holistic use as well as for areas of tenderness or bone (see U.S. Patent Application Publication 29 / 676,670, which is incorporated herein by reference in its entirety). Attachment 628 can also be a wedge attachment for use with the scapula and IT band for "rubbing" and "washing" motions that help wash lactic acid away from muscles (see U.S. Patent Application Publication No. 845,500, which is incorporated herein by reference in whole). Attachment 628 can also be a large ball for large muscle groups such as the glutes and quadriceps (see U.S. Patent Application Publication No. 29 / 677,016, which is incorporated herein by reference in whole). Attachment 628 can also be a thumb attachment for use with trigger points and the lumbar region (see U.S. Patent Application Publication No. 850,639, which is incorporated herein by reference in whole). Attachment 628 can also be a super-soft attachment designed to provide therapeutic relief to sensitive areas including bone (see U.S. Patent Application Publication No. 29 / 726,305, which is incorporated herein by reference in whole). Those skilled in the art will recognize that the attachments described herein are not limiting, and other configurations of attachments, including those made of various materials and shapes, may be used in accordance with these embodiments. Spherical attachments, bifurcated attachments, flat attachments, or attachments of other shapes are all within the scope of the present invention.

[0148] The routine controller 630 is configured to execute routines in relation to one or more specified protocols. The routine controller 630 can be, for example, the microcontroller unit 701 shown in Figure 17. The routine controller 630 can also be a standalone microcontroller separate from the microcontroller 701. The routine controller can execute steps through various steps of a specific protocol designed to target a particular muscle group and provide a specific therapeutic effect, as described herein.

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

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

[0151] Step 1 specifies that the device 400 is operated using grip 1. Grip 1 may be, for example, the grip shown on the first handle portion 143 in Figure 39, and is also referred to as the “normal” or “standard” grip. Grip 2 may be, for example, the grip shown on the third handle portion 147 in Figure 40, and is also referred to as the “reverse” grip. The “inverse” grip may be used on the third handle portion 147 (not shown). Grip 3 may be, for example, the grip shown on the second handle portion 145 in Figure 41, and is also referred to as the “base” grip.

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

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

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

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

[0156] Step 1 specifies that the arm positions 632, 634, and 636 to be used are arm position 1. Those skilled in the art will understand that the number of arm positions (e.g., 1, 2, 3, 4, etc.) are predetermined arm positions intended to be used during a particular protocol. The part of the body to which attachment 628 is applied is one factor in determining the optimal arm position. However, the arm positions may be determined by the user and do not need to implement a protocol. As shown in Figure 39, a “standard” grip may be used at arm position 632 to apply to a specific part of the body. As shown in Figure 40, a “reverse” grip may be used at arm position 634 to apply to a specific part of the body. As shown in Figure 41, a “base” grip may be used at arm position 636 to apply to a specific part of the body. Those skilled in the art will recognize that arm positions 632, 634, and 636, combined with specific grips 143, 145, and 147, may vary depending on the application. Those skilled in the art will understand that the setting of the arm positions of the device 400 depends on the specific device. For example, a specific device may allow the user to adjust the arm position, while another device may prevent the user from doing so. Otherwise, this procedure is not applicable. In other embodiments, this step may be performed during the execution of a step in a particular protocol.

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

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

[0159] In step 4, the shin splint protocol specifies that the device 400 be operated for 1 minute at 2000 RPM, amplitude of "3", force of "3", and temperature of 24°C. Step 4 specifies that the damper attachment 628 be used and that the device 400 be operated using grip 3 ("base") against the left calf. Thus, step 4 uses the same attachment, grip, and arm position as step 1, but applies to the other calf.

[0160] Figure 46 is a series of flowcharts (Figures 46A, 46B, and 46C) illustrating how to perform a routine with a percussive massage device.

[0161] Figure 46A is a flowchart illustrating an exemplary protocol initiation. In step 1502, protocol 1 is initiated. Protocol 1 is, for example, the protocol shown in Figure 44 or the “Shin Splint” protocol shown in Figure 45. Those skilled in the art will understand that the protocol shown in Figure 44 does not include all the outputs specified in the Shin Splint protocol shown in Figure 45, and therefore not all steps of method 1500 apply to the protocol shown in Figure 44.

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

[0163] In step 1506, the user is prompted to use the designated grips or handle portions 143, 145, and 147 of the device 400. The grip specified in the shin splint protocol is, for example, the third handle portion 147. The grips may be modified according to a specific protocol or step, as described herein.

[0164] In step 1508, the user is prompted to attach the specified attachment to the device 400. The attachment may be modified according to a specific protocol or step, as described herein.

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

[0166] Figure 46B is a flowchart illustrating an exemplary step 1 of the protocol, continuing method 1500 which was excluded in Figure 46A.

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

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

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

[0170] In step 1518, the user is prompted to use the designated grips 143, 145, and 147 of the device 400. The grips may be modified according to a specific protocol or step, as described herein.

[0171] In step 1520, the user is prompted to attach the specified attachment 628 to the device 400. The attachment 628 may be modified according to a specific protocol or step, as described herein.

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

[0173] Figure 46C is a flowchart illustrating an exemplary step 2 of the protocol, continuing with method 1500, which is omitted in Figure 46B.

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

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

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

[0177] Therefore, in steps 1528-1534, substantially the same steps as in steps 1516-1522 are performed. After step 1534, steps 3-4 are started substantially the same as steps 1-2. For example, steps 3 and 4 may be steps 3 and 4 of protocol 1 shown in Figure 44 or shin splint protocol shown in Figure 45. Furthermore, step 1534 may be omitted in devices where the grip, arm position, or attachment cannot be detected by the device. In this embodiment, a given protocol simply moves from step 1 to step 2 and prompts the user to make a change (regardless of whether the user actually made a change or not).

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

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

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

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

[0182] In step 1546, the user is prompted to increase or decrease the force applied to a part of the body according to the protocol specified during T2. Figure 48 shows a touchscreen 1582 with an exemplary embodiment of force display. Force display 1590 shows an exemplary embodiment of step 1546. Force display 1590 shows a series of force measurements during the “right biceps” step of the protocol. Force display prompt 1592 is used to display a message to the user such as “Optimal pressure: well done” when the force applied by attachment 628 matches or corresponds to a target force predetermined by the protocol. In this embodiment, force display prompt 1592 may list “Increase pressure” etc. if the measured force applied by attachment 628 is lower than the target force predetermined by the protocol. If the measured force applied by attachment 628 is higher than the target force predetermined by the protocol, force display prompt 1592 may list “Decrease pressure” etc. In this case, the user may adjust the pressure they are applying to a part of their body in accordance with the force display prompt 1592 to increase or decrease the pressure so that the measured force is equal to or approximately equal to the target force.

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

[0184] Therefore, in steps 1548 to 1554, substantially the same steps as in steps 1516 to 1522 are performed. After step 1554, steps 3 to 4 are started substantially the same as steps 1 to 2. For example, steps 3 and 4 may be steps 3 and 4 of protocol 1 shown in Figure 44 or the shin sprint protocol shown in Figure 45.

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

[0186] The following portion of interface 1584 shows step fields 1558-1568 of the protocol displayed to the user. In this embodiment, the step fields identify the title of the step and the duration of the step. For example, the title of step field 1558 is "right biceps brachii" (location where treatment is performed), and the duration of the action is "0:30 minutes".

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

[0188] Interface 1584 also includes a time display 1576 and a remaining time display 1578 to show the user how much time has passed between steps and the remaining time for the step. Finally, interface 1584 includes a control field 1580 for step-by-step playback, skip back, and skip forward.

[0189] As described above, Figure 46 shows the touchscreen 1582 of the mobile device. The touchscreen 1582 displays graphics indicating a starting point 1586"A" and an ending point 1588"B" (which define the treatment path) that indicate to the user where to apply the attachment 628 to a designated body part. In Figure 46, the display instructs the user to move the attachment from the lower part of the right biceps brachii to the upper part of the right biceps brachii (treatment path) during the current step. In some embodiments, during a single step, the user may be prompted or shown multiple treatment paths (or a first and second treatment path) of the same body part / muscle or different body parts / muscles via the graphical user interface. For example, during the step for the right biceps brachii, the user may first be prompted to move the device along the path shown in Figure 47, but during the same 30-second step, the user may be prompted or shown a path parallel to the path shown in Figure 47.

[0190] Although the operation of one or more methods has been described here in a specific order, the order of operation of each method may be changed so that a given operation can be performed in reverse order, or so that a given operation can be performed at least partially simultaneously with other operations. In another embodiment, separate operation commands or sub-operations may be performed intermittently and / or alternately.

[0191] Unless otherwise explicitly stated in the context, terms such as “equipped with” and “equipped with” throughout the specification and claims should be interpreted in a comprehensive sense, i.e., “having but not limited to,” and not in an exclusive or exhaustive sense. Where used herein, terms such as “connected,” “combined,” or any variation thereof mean any direct or indirect connection or combination between two or more elements. The combination of connections between elements may be physical, logical, or a combination thereof. Furthermore, where used herein, the words “here,” “above,” “below,” and words of similar meaning refer to the entire specification and not to any particular part thereof. Where the context allows, each word in the detailed description of the above preferred embodiments, whether singular or plural, may include either singular or plural. The word “or” referring to a list of two or more items has the following interpretations: covering any item in the list, all items in the list, and any combination of items in the list.

[0192] Embodiments are envisioned in which any aspect, feature, component, or step described herein may be omitted and / or optional. Furthermore, any of these aspects, features, components, or steps discussed herein in relation to one aspect of the invention may be applied to another aspect of the invention as needed.

[0193] The above detailed description of embodiments of the Disclosure is not intended to be exhaustive or to limit teachings to the exact form disclosed above. Specific embodiments and examples of the Disclosure are described above for illustrative purposes only, and various equivalent modifications are possible within the scope of the Disclosure, as will be recognized by those skilled in the art. For example, while processes or blocks are presented in a given order, alternative embodiments may involve the execution of routines having steps or the use of systems having blocks in a different order, and some processes or blocks may be deleted, moved, added, subdivided, combined and / or modified to provide alternatives or subcombinations. Each of these processes or blocks may be implemented in a variety of ways. Furthermore, while processes or blocks are shown as being executed in series, these processes or blocks may be executed in parallel or at different times. In addition, specific numerical values ​​described herein are merely examples, and alternative implementations may use different values, measurements or ranges.

[0194] The above detailed description of embodiments of the Disclosure is not intended to be exhaustive or to limit the teachings to the exact form disclosed above. Specific embodiments and examples of the Disclosure are described above for illustrative purposes only, and various equivalent modifications are possible within the scope of the Disclosure, as will be recognized by those skilled in the art. Furthermore, specific numerical values ​​described herein are merely examples, and alternative implementations may use different values, measurements, or ranges. Any dimensions given herein are merely illustrative, and it is understood that neither the dimensions nor the descriptions limit the invention.

[0195] The teachings of the disclosure provided herein may be applied to systems other than those described above. Elements and actions of the various embodiments described above may be combined to provide alternative embodiments.

[0196] The above patents and applications, including those that may be described in the attached application documents, and other references are incorporated herein by reference in their entirety. Aspects of this disclosure may be modified, as necessary, to use the systems, functions, and concepts of the various references above to provide yet another embodiment of this disclosure.

[0197] These and other modifications may be made to the disclosure in consideration of the above-mentioned detailed description of preferred embodiments. While the above description illustrates specific embodiments of the disclosure and the best modes intended, the teachings can be practiced in many ways, regardless of how detailed the above is presented in the document. Details of the system are still included in the subject matter disclosed herein, but may differ considerably in their implementation details. As stated above, any specific terms used when describing a particular feature or aspect of the disclosure should not be construed as meaning that the terms are redefined herein to limit the terms to specific characteristics, features, or aspects of the disclosure in question. Generally, the terms used in the following claims should not be construed as limiting the disclosure to specific embodiments disclosed herein unless such terms are explicitly defined in the above-mentioned detailed description of preferred embodiments. Thus, the actual scope of the disclosure includes not only the disclosed embodiments but also all equivalent methods of practicing or practicing the disclosure under the claims.

[0198] Certain aspects of this disclosure are presented below in the form of specific claims, but the inventors intend various aspects of the disclosure in any number of claim forms. For example, only one aspect of this disclosure is listed below as means-plus-function claims under § 112(6) of the U.S. Patent Act, but other aspects may also be implemented as means-plus-function claims or in other forms that can be implemented in a computer-readable medium (claims intended to be dealt with under § 112(6) of the U.S. Patent Act have the term “means”). Accordingly, the applicant reserves the right to add additional claims after filing in order to pursue such additional claim forms for other aspects of the disclosure.

[0199] Therefore, although exemplary embodiments of the present invention have been shown and described, it should be understood that all terms used herein are descriptive rather than restrictive, and that many modifications, variations, and substitutions can be made by those skilled in the art without departing from the spirit and scope of the invention. The inventions disclosed herein include the following: [Aspect 1] It is a percussive treatment device, Housing and Power supply and The motor arranged in the housing, A switch for operating the motor, A push rod assembly configured to be operably connected to the motor and to reciprocate in response to the operation of the motor, A percussive therapy device equipped with [a specific feature]. [Aspect 2] The percussive therapy device according to Embodiment 1, wherein the housing has a first handle portion, a second handle portion, and a third handle portion and a head portion which work together to define a handle opening, the first handle portion defining a first axis, the second handle portion defining a second axis, the third handle portion defining a third axis, the first axis, the second axis and the third axis working together to form a triangle, the motor is located in the head portion of the housing, and at least a portion of the push rod assembly extends outward from the head portion. [Aspect 3] The percussive therapy device according to embodiment 2, wherein the first handle portion is substantially straight, the second handle portion is substantially straight, and the third handle portion is substantially straight. [Aspect 4] The percussive therapy device according to embodiment 1, further comprising a wireless connection device. [Aspect 5] The percussive therapy device according to embodiment 1, wherein the power source is a rechargeable battery, and the percussive massage device further comprises a wireless receiver that electrically communicates with the battery. [Aspect 6] The percussive therapy device according to embodiment 1, further comprising a touchscreen. [Aspect 7] The percussive therapy device according to Embodiment 1, wherein the motor is a brushless motor, a motor mount is arranged in the housing, the motor is fixed to the motor mount, and the motor mount is fixed to the housing. [Aspect 8] The percussive therapy device according to embodiment 7, wherein the motor mount has a first side wall and a second side wall defining the interior of the motor mount, the motor is fixed to the first side wall, and the second side wall is fixed to the housing. [Aspect 9] The percussive therapy device according to embodiment 8, wherein the motor has a motor shaft extending into the motor mount through a projection opening defined in the first side wall of the motor mount, and at least a portion of the push rod assembly is located inside the motor mount. [Aspect 10] The percussive therapy device according to embodiment 1, further comprising: an attachment connected to the distal end of the push rod assembly; and a routine controller configured to initiate a protocol configured to provide user commands for applying the attachment to a first body part along a first therapeutic pathway during a first period and for applying the attachment to the first or second body part along a second therapeutic pathway during a second period. [Aspect 11] The percussive therapy apparatus according to embodiment 10, wherein the user commands are provided via the touchscreen of the percussive therapy apparatus or through an application of a remote electronic device. [Aspect 12] The percussive therapy device according to embodiment 1, further comprising: an attachment connected to the distal end of the push rod assembly; and a routine controller configured to initiate a protocol configured to provide user commands for applying the attachment to a first body part during a first period and for applying the attachment to the first or second body part during a second period, wherein the routine controller is configured to reciprocate the attachment at a first speed during the first period and at a second speed during the second period. [Aspect 13] The percussive therapeutic device according to Embodiment 1, further comprising a routine controller configured to initiate a protocol for operating the motor over at least a first period and a subsequent second period, wherein during the first period, the routine controller is configured to provide a first user command for performing a first task comprising at least one of treating a first body part, moving the attachment along a first therapeutic path, and connecting the first attachment to the distal end of the pushrod assembly, and during the second period, the routine controller is configured to provide a second user command for performing a second task comprising at least one of treating a second body part, moving the attachment along a second therapeutic path, and connecting the second attachment to the distal end of the pushrod assembly. [Aspect 14] The percussive therapy device according to embodiment 13, wherein the first user command comprises at least one of treating the first body part, moving the attachment along the first treatment path, connecting the first attachment to the distal end of the push rod assembly, and gripping one of the first handle position, the second handle position, and the third handle position, and the second user command comprises at least one of treating the second body part, moving the attachment along the second treatment path, connecting the second attachment to the distal end of the push rod assembly, and gripping one of the first handle position, the second handle position, and the third handle position. [Aspect 15] The percussive therapy device according to embodiment 13, wherein the first user command comprises at least one of treating the first body part, moving the attachment along the first treatment path, connecting the first attachment to the distal end of the pushrod assembly, and applying a force to a first target, and the second user command comprises at least one of treating the second body part, moving the attachment along the second treatment path, connecting the second attachment to the distal end of the pushrod assembly, and applying a force to a second target. [Aspect 16] The percussive therapy apparatus according to embodiment 13, wherein the first user command and the second user command are provided via the touchscreen of the percussive therapy apparatus or by an application of a remote electronic device. [Aspect 17] The percussive therapy device according to embodiment 2, wherein the power source is a battery located in the second handle portion, and a wireless receiver that electrically communicates with the battery is located in the third handle portion. [Aspect 18] It is a percussive massage device, Housing and Power supply and The motor arranged in the housing, A switch for operating the motor, A routine controller configured to initiate a protocol configured to apply at least one output of the percussive massage device in response to user input, and to initiate at least one step of the protocol applied to the percussive massage device according to the at least one output, A percussive massage device equipped with [a specific feature / feature]. [Aspect 19] The percussive massage device according to embodiment 18, wherein the at least one output comprises one or more of the following: the duration of operation of the percussive massage device, the speed of the attachment of the percussive massage device, the force applied by the attachment, the amplitude of the attachment, and the temperature of the attachment. [Aspect 20] The percussive massage device according to embodiment 18, further comprising a force meter configured to monitor and display the force applied by an attachment of the percussive massage device, wherein the display of the force is provided to a user and the user is configured to adjust the force so that the force corresponds to a target force applied during at least one step of the protocol. [Aspect 21] A percussive massage device according to embodiment 18, further comprising an application configured to provide a user interface. [Aspect 22] A percussive massage device according to embodiment 18, further comprising a touchscreen configured to provide a user interface. [Aspect 23] The percussive massage device according to embodiment 18, which prompts the user to use a designated grip of the percussive massage device. [Aspect 24] The percussive massage device according to embodiment 18, which prompts the user to apply the attachment of the percussive massage device to a designated part of the body. [Aspect 25] The percussive massage device according to embodiment 18, which prompts the user to set the arm position of the percussive massage device. [Aspect 26] A percussive massage device according to embodiment 18, which prompts the user to apply the at least one output via at least one of tactile feedback, sound, visual representation and text during the at least one of the steps described above. [Aspect 27] A percussive massage device according to embodiment 18, which prompts the user to move the attachment from a start point to an end point on a designated part of the body during at least one step of the protocol. [Aspect 28] A method for performing a routine on a percussive massage device, Steps include: initiating a protocol configured to apply at least one output of the percussive massage device in response to user input; The steps include performing at least one step of a protocol to which the percussive massage device is applied, according to the at least one output, A method for providing this. [Aspect 29] The method according to embodiment 28, wherein the at least one output comprises one or more of the following: the duration for operating the percussive massage device, the speed of the attachment of the percussive massage device, the force of the attachment, the amplitude of the attachment, the type of the attachment, the temperature of the attachment, the arm position of the percussive massage device, and the grip of the percussive massage device. [Aspect 30] A step of monitoring the force applied by the attachment of the percussive massage device, The steps include displaying the force to the user, The method according to embodiment 28, further comprising the following: [Aspect 31] The method according to embodiment 30, wherein the force is configured to be displayed to the user so that the force can be adjusted to correspond to a target force predetermined by at least one step of the protocol. [Aspect 32] The method according to embodiment 28, wherein the user is prompted to apply one or more of the at least one outputs during the at least one step of the protocol. [Aspect 33] The method according to embodiment 28, wherein the user input initiates the protocol via at least one of an application interface and a touchscreen. [Aspect 34] The method according to embodiment 28, wherein the protocol is configured to provide a therapeutic effect to one or more parts of a user's body. [Aspect 35] A method for performing a routine on a percussive massage device, Steps include: initiating a protocol configured to apply at least one output of the percussive massage device in response to user input; A step of initiating at least one step of a protocol to which the percussive massage device is applied, according to the at least one output: The at least one output comprises one or more of the following: the duration of operation of the percussive massage device, the speed of the attachment of the percussive massage device, the force applied by the attachment, and the temperature of the attachment. The percussive massage device includes the step of prompting the user to use the designated grip of the percussive massage device and to apply the attachment of the percussive massage device to the designated part of the body when initiating the protocol, A step of monitoring the measured force applied by the attachment, A step of displaying the measured force to the user, wherein the measured force is configured to be displayed to the user so that the force can be adjusted so that the force corresponds to the target force by at least one step of the protocol, A method for providing this. [Aspect 36] The method according to embodiment 35, wherein the user is prompted to set the arm position of the percussive massage device. [Aspect 37] The method according to embodiment 35, wherein the user is prompted to apply the attachment to a newly designated body part during at least one step of the protocol. [Aspect 38] The method according to embodiment 35, wherein the user is prompted to attach a new attachment to the percussive massage device during at least one step of the protocol. [Aspect 39] The method according to embodiment 35, wherein the user is prompted to move the attachment from one predetermined point on a body part to a second predetermined body part during the at least one step of the protocol.

Claims

1. It is a percussive massage device, A housing comprising a first handle portion, a second handle portion, and a third handle portion that cooperate to define at least partially a handle opening, wherein the first handle portion defines a first axis, the second handle portion defines a second axis, and the third handle portion defines a third axis, and the first axis, the second axis, and the third axis cooperate to form a triangle so that the user can grasp any of the first, second, and third handle portions regardless of the use of the percussive massage device, Power supply and The motor located in the third handle portion, A switch for operating the motor, A push rod assembly configured to be operably connected to the motor and to reciprocate in response to the operation of the motor, A rotating housing that allows rotation together with the push rod assembly, A button having teeth that extend radially, A hoop connected to the housing and defining another tooth, having an inner plastic ring and an outer plastic ring that sandwich a rubber ring, Equipped with, The button is biased to a first position in which the radially extending teeth engage with the other teeth and the rotating assembly cannot rotate, and the button is movable between the first position and a second position in which the radially extending teeth do not engage with the other teeth and the rotating assembly can rotate. The push rod assembly comprises a first rod portion, one end of which is operably connected to the motor, and a second rod portion, the other end of which is operably connected to the treatment structure. A percussive massage device comprising an adapter member having a first receiving portion for receiving the other end of the first rod portion and a second receiving portion for receiving the other end of the second rod portion.

2. The percussive massage device according to claim 1, wherein the housing has a head portion that extends rearward from the first handle portion.

3. The percussive massage device according to claim 1, wherein the first handle portion is straight, the second handle portion is straight, and the third handle portion is straight.

4. The percussive massage device according to claim 1, wherein at least two of the first handle portion, the second handle portion, and the third handle portion are straight.

5. It is a percussive massage device, A housing having a first handle portion, a second handle portion and a third handle portion which cooperate to define at least partially a handle opening, wherein the first handle portion defines a first axis, the second handle portion defines a second axis, and the third handle portion defines a third axis, and the first axis, the second axis and the third handle portion are such that a user can grasp any of the first handle portion, the second handle portion and the third handle portion regardless of the use of the percussive massage device. The three axes cooperate to form a first triangle, the first handle portion including the outer edge of the first handle portion, the second handle portion including the outer edge of the second handle portion, the third handle portion including the outer edge of the third handle portion, the outer edge of the first handle portion defining an extended outer edge of the first handle portion, the outer edge of the second handle portion defining an extended outer edge of the second handle portion, and the outer edge of the third handle portion defining an extended outer edge of the third handle portion, the housing and Power supply and The motor located in the third handle portion, A switch for operating the motor, A push rod assembly configured to be operably connected to the motor and to reciprocate in response to the operation of the motor, A rotating housing that allows rotation together with the push rod assembly, A button having teeth that extend radially, A hoop connected to the housing and defining another tooth, having an inner plastic ring and an outer plastic ring that sandwich a rubber ring, Equipped with, The button is biased to a first position in which the radially extending teeth engage with the other teeth and the rotating assembly cannot rotate, and the button is movable between the first position and a second position in which the radially extending teeth do not engage with the other teeth and the rotating assembly can rotate. The push rod assembly comprises a first rod portion, one end of which is operably connected to the motor, and a second rod portion, the other end of which is operably connected to the treatment structure. A percussive massage device comprising an adapter member having a first receiving portion for receiving the other end of the first rod portion and a second receiving portion for receiving the other end of the second rod portion.

6. The percussive massage device according to claim 5, wherein the housing has a head portion that extends rearward from the first handle portion.

7. The percussive massage device according to claim 6, wherein the second handle portion extends downward from the first handle portion, and the third handle portion extends forward from the second handle portion.

8. The percussive massage device according to claim 5, wherein the outer edge of the first handle portion is straight, the outer edge of the second handle portion is straight, and the outer edge of the third handle portion is straight.

9. The percussive massage device according to claim 5, wherein at least two of the first handle portion, the second handle portion, and the third handle portion are straight.

10. It is a percussive massage device, A housing having a first handle portion, a second handle portion, and a third handle portion that cooperate to define at least partially a handle opening, wherein the first handle portion includes the outer edge of the first handle portion, the second handle portion includes the outer edge of the second handle portion, the third handle portion includes the outer edge of the third handle portion, the outer edge of the first handle portion defines an extended outer edge of the first handle portion, the outer edge of the second handle portion defines an extended outer edge of the second handle portion, and the outer edge of the third handle portion defines an extended outer edge of the third handle portion, Power supply and The motor located in the third handle portion, A switch for operating the motor, A push rod assembly configured to be operably connected to the motor and to reciprocate in response to the operation of the motor, A rotating housing that allows rotation together with the push rod assembly, A button having teeth that extend radially, A hoop connected to the housing and defining another tooth, having an inner plastic ring and an outer plastic ring that sandwich a rubber ring, Equipped with, The button is biased to a first position in which the radially extending teeth engage with the other teeth and the rotating assembly cannot rotate, and the button is movable between the first position and a second position in which the radially extending teeth do not engage with the other teeth and the rotating assembly can rotate. The push rod assembly comprises a first rod portion, one end of which is operably connected to the motor, and a second rod portion, the other end of which is operably connected to the treatment structure. A percussive massage device comprising an adapter member having a first receiving portion for receiving the other end of the first rod portion and a second receiving portion for receiving the other end of the second rod portion.

11. The percussive massage device according to claim 10, wherein the outer edge of the first handle portion is straight, the outer edge of the second handle portion is straight, and the outer edge of the third handle portion is straight.

12. The percussive massage device according to claim 10, wherein at least two of the first handle portion, the second handle portion, and the third handle portion are straight.

13. The percussive massage device according to claim 10, wherein the housing has a head portion from which the first handle portion extends rearward, the second handle portion extends downward from the first handle portion, and the third handle portion extends forward from the second handle portion.

14. The percussive massage device according to claim 10, wherein the outer edge of the first handle portion is straight, the outer edge of the second handle portion is straight, the outer edge of the third handle portion is straight, and at least two of the first handle portion, the second handle portion and the third handle portion are straight.

15. The percussive massage device according to claim 14, wherein the housing has a head portion from which the first handle portion extends rearward, the second handle portion extends downward from the first handle portion, and the third handle portion extends forward from the second handle portion.

16. It is a percussive massage device, A housing having a first handle portion, a second handle portion, and a third handle portion that cooperate to define at least partially a handle opening, wherein the first handle portion includes an inner edge of the first handle portion, the second handle portion includes an inner edge of the second handle portion, the third handle portion includes an inner edge of the third handle portion, the inner edge of the first handle portion defines an extended inner edge of the first handle portion, the inner edge of the second handle portion defines an extended inner edge of the second handle portion, and the inner edge of the third handle portion defines an extended inner edge of the third handle portion, Power supply and The motor located in the third handle portion, A switch for operating the motor, A push rod assembly configured to be operably connected to the motor and to reciprocate in response to the operation of the motor, A rotating housing that allows rotation together with the push rod assembly, A button having teeth that extend radially, A hoop connected to the housing and defining another tooth, having an inner plastic ring and an outer plastic ring that sandwich a rubber ring, Equipped with, The button is biased to a first position in which the radially extending teeth engage with the other teeth and the rotating assembly cannot rotate, and the button is movable between the first position and a second position in which the radially extending teeth do not engage with the other teeth and the rotating assembly can rotate. The push rod assembly comprises a first rod portion, one end of which is operably connected to the motor, and a second rod portion, the other end of which is operably connected to the treatment structure. A percussive massage device comprising an adapter member having a first receiving portion for receiving the other end of the first rod portion and a second receiving portion for receiving the other end of the second rod portion.

17. The percussive massage device according to claim 16, wherein the housing has a head portion extending rearward from the first handle portion, and the head portion defines a straight inner edge of the head portion.

18. The percussive massage device according to claim 16, wherein the inner edge of the first handle portion is straight, the inner edge of the second handle portion is straight, and the inner edge of the third handle portion is straight.

19. The percussive massage device according to claim 16, wherein at least two of the first handle portion, the second handle portion, and the third handle portion are straight.

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