Massage equipment

Abstract

To provide a massage device capable of effectively giving a massage by a treating person in consideration of a massage operation by the massage device.SOLUTION: A massage device 1 is a massage device for a massage facility for giving a pre-finish massage by the massage device to a person to be treated, and giving a finish massage by a treating person after the pre-finish massage is given, and includes a calculation device 3. The calculation device is configured so as to generate provision information to be provided to the treating person for the finish massage from the information acquired while the pre-finish massage is given, and output the provision information after the pre-finish massage is given.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a massage device. [Background technology]

[0002] Massage, which is an act of giving physical stimulation to a person being treated, has traditionally been performed by a massage therapist or the like. Therefore, massage technique may vary depending on the massage therapist.

[0003] In this regard, it may be possible to use a robot body care system having a robot hand, as disclosed in Japanese Patent No. 6733973 (hereinafter referred to as Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6733973 Summary of the Invention

[0005] In addition to the massage action according to the program using the robot hand, a massage by a therapist such as a masseuse may also be performed. In this case, it is desirable that the massage by the therapist is also performed effectively based on the massage action according to the program using the robot hand.

[0006] According to an embodiment, the massage device is a massage device for a massage facility that performs a pre-massage on a user and a finishing massage on a massage provider after the pre-massage, and includes a computing device that is configured to generate provision information to be provided to the massage provider for the finishing massage from information obtained during the pre-massage and output the provision information after the pre-massage. Further details will be described as an embodiment below. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram showing an overview of a massage system according to an embodiment and how it is used. [Diagram 2] FIG. 2 is a diagram illustrating the configuration of a massage device included in the massage system and a setting operation for setting a setting position using a robot arm of the massage device. [Diagram 3] FIG. 3 is a schematic block diagram showing the configuration of a calculation device included in the massage system. [Figure 4] FIG. 4 is a diagram illustrating the flow of a massage treatment for a user using the massage system. [Diagram 5] FIG. 5 is a diagram for explaining another example of the setting operation of the setting position using the robot arm of the massage device. [Figure 6] FIG. 6 is a diagram for explaining a machine learning method of a learning model used in a computing device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] <1. Overview of the massage device>

[0009] (1) A massage device according to one embodiment is a massage device for use in a massage facility that performs a pre-massage on a recipient using the massage device and then performs a finishing massage by the massage provider after the pre-massage, and is equipped with a calculation device that is configured to generate provision information to be provided to the massage provider for the finishing massage from information obtained during the pre-massage and to output the provision information after the pre-massage.

[0010] Massage facilities include, for example, massage parlours, acupuncture clinics, beauty salons, and osteopathic clinics, and are facilities where massages can be given to recipients by therapists such as masseurs, estheticians, chiropractors, or judo therapists.

[0011] By generating and outputting the provision information to be provided to the therapist for the finishing massage, the therapist can perform the finishing massage based on the provision information, which enables the therapist to effectively perform the finishing massage based on the massage movements of the pre-finishing massage.

[0012] (2) Preferably, the provided information includes information indicating the treatment contents of the pre-finishing massage, which enables the massage provider to effectively perform the finishing massage based on the treatment contents of the pre-finishing massage.

[0013] (3) Preferably, the provided information includes information indicating the therapeutic effect of the pre-finishing massage. The information indicating the therapeutic effect includes, for example, information indicating the physical condition of the recipient after the treatment, specifically, information indicating areas where stiffness has been relieved and areas where stiffness remains. As one example, these may be output as a map that diagrammatically represents the recipient's body. This enables the therapist to perform a finishing massage taking into account the therapeutic effect of the pre-finishing massage.

[0014] (4) Preferably, the massage device further includes a microphone, and the computing device inputs audio data obtained by the microphone during a period related to the administration of the pre-finishing massage into a learning model trained by machine learning to provide output information in response to the input of the audio data, thereby obtaining output information provided from the learning model, and the provided information includes the output information.

[0015] The period related to the administration of the pre-finishing massage includes at least one of a massage action during the pre-finishing massage, a massage action after the pre-finishing massage, and a massage action before the pre-finishing massage. By utilizing the learning model, the provision information can be easily generated.

[0016] (5) Preferably, the voice data includes data indicating the treatment effect of the pre-massage obtained from the speech of the person to be treated. In this way, the treatment effect of the pre-massage can be obtained from the voice data, and the information to be provided can be generated based on the treatment effect.

[0017] (6) Preferably, the massage device further includes a speaker, and the calculation device is configured to output voice for dialogue with the person being massaged from the speaker during the period related to the pre-finishing massage treatment. This allows voice data to be obtained in a dialogue format from the person being massaged during the period related to the pre-finishing massage treatment. This allows the effects of the pre-finishing massage to be obtained, and can be used to generate the information to be provided.

[0018] (7) Preferably, the computing device is configured to store the provided information in association with specific information of the person to be treated in a storage device accessible by another device. The other device corresponds to, for example, a terminal device carried by the person to be treated. This allows the person to obtain the provided information even if he or she is in a space different from the space where the pre-finishing massage is performed. Therefore, for example, it becomes possible to perform the pre-finishing massage and the finishing massage in different spaces.

[0019] <2. Examples of massage devices>

[0020] Referring to FIG. 1, a massage system (hereinafter, referred to as a system) 100 according to this embodiment includes a massage device 1 having a robot arm 10, and is a system that performs a massage with the robot arm 10 on a user (person to be massaged) PT1.

[0021] This system 100 is a massage system for a massage facility, which is assumed to be used in the massage facility. A massage facility is a facility where a massage provider PT2 can give a massage to a user PT1. The massage facility is, for example, a massage parlor, an acupuncture clinic, an esthetic salon, an osteopathic clinic, etc. The therapist PT2 is a person who gives a massage to a user, such as a masseuse or esthetician, a chiropractor, or a judo therapist.

[0022] The system 100 is used to perform a first massage on a user PT1 using the massage device 1 (step S1), and then perform a second massage by a therapist PT2 (step S2). The massage for the user PT1 may end with the second massage following the first massage, or the first massage may be performed after the second massage.

[0023] The first massage is an automatic massage performed automatically by the massage device 1. The second massage is a manual massage performed by the therapist PT2 after the first massage. In other words, the second massage is a finishing massage of the first massage, and the first massage is a pre-finishing massage. In the following examples, the first massage is a pre-finishing massage performed by the massage device 1, and the second massage is a finishing massage performed by the therapist PT2.

[0024] The massage device 1 has a movement function described later and is therefore movable relative to the treatment table. When a massage is to be given to the user PT1, the massage device 1 is moved to the treatment table on which the user PT1 is standing and set.

[0025] The treatment table is a table on which the user PT1 who is receiving a massage stands, and may be, for example, any of a bed type, a mat type, or a treatment chair type. Standing on the treatment table refers to lying flat on the bed or mat if the treatment table is a bed or a mat, and sitting on the treatment chair if the treatment table is a treatment chair. In the following explanation, the treatment table is a bed, and the user PT1 lies flat on the bed when receiving treatment. Note that lying flat can include both lying face down and lying on one's back, and may be either. In the following explanation, it refers to lying face down.

[0026] In the example of FIG. 1, the user PT1, who is the recipient, lies flat on the bed 21 installed in the first massage room R1. In step S1, the massage device 1 is set on the bed 21, and a pre-massage is given to the user PT1. After that, in the example of FIG. 1, the user PT1 moves to the second massage room R2 and lies flat on the bed 22. As another example, the user PT1 may stay in the first massage room R1, and the massage provider PT2 may enter the first massage room R1 to give a finishing massage. At this time, the massage device 1 may be moved to another massage room (not shown) and used there, or may be used for another user in the first massage room R1. In step S2, the massage provider PT2 gives a finishing massage to the user PT1 in the second massage room R2.

[0027] The system 100 includes a computing device 3. The computing device 3 is connected to the massage device 1 by wire or wirelessly, and functions as a control unit that causes the robot arm 10 to perform a massage action according to a program. In the example of FIG. 1, the computing device 3 is a device different from the massage device 1. As another example, the computing device 3 may be built into the massage device 1.

[0028] The arithmetic device 3 can communicate with other devices via a network 7 such as the Internet. As an example, the arithmetic device 3 can access a server 5. Note that, if the server 5 is a storage device mounted on the arithmetic device 3, the arithmetic device 3 does not need to be able to communicate with other devices.

[0029] The server 5 may be accessible by other devices. In the example of Fig. 1, the server 5 may be accessible by a terminal device 9. The terminal device 9 is, for example, a terminal device carried by the therapist PT2, and specifically, may be a smartphone or a tablet terminal.

[0030] As an example, the massage device 1 is installed near the bed 21 so as to be able to give a massage to the user PT1 lying flat on the bed 21. Fig. 2 is a schematic diagram of the massage device 1 placed on the bed 21, looking down from above the bed 21.

[0031] With reference to FIG. 2, the massage device 1 has a robot arm 10. The robot arm 10 is made up of one or more robot arms. As an example, the robot arm 10 includes a pair of left and right robot arms 10L, 10R. The robot arms 10L, 10R are collectively referred to as the robot arm 10. As another example, the robot arm 10 may be made up of three or more robot arms. Also, as another example, the robot arm 10 may be only one.

[0032] The robot arm 10 is connected to a moving device 12. As an example, a base end of the robot arm 10 is connected to the moving device 12. The moving device 12 is configured to move the robot arm 10 relative to a bed 21.

[0033] The movement of the robot arm 10 relative to the bed 21 includes moving the robot arm 10 to the vicinity of the bed 21. For this movement, the moving device 12 includes, as an example, casters (not shown) provided at a position relative to the floor surface. The casters may rotate according to a control signal from the computing device 3, or may be rotated manually by an operator such as the therapist PT2. This allows the robot arm 10 to move from a position away from the bed 21 to the vicinity of the bed 21.

[0034] The movement of the robot arm 10 relative to the bed 21 includes moving it in the longitudinal direction of the bed 21. For this movement, the moving device 12 is configured, as one example, to be movable along a rail 11 installed parallel to the longitudinal direction of the bed 21. The positional relationship of the rail 11 with respect to the bed 21 is assumed to be specified in advance and stored in the computing device 3.

[0035] The moving device 12 moves the robot arm 10 along the rail 11 in a direction, a moving amount, and a moving speed according to a control signal from the computing device 3. This allows the robot arm 10 connected to the moving device 12 to move in the longitudinal direction of the bed 21.

[0036] The robot arm 10 has a treatment unit. The robot arm 10 has one or more joints 17 that can rotate in multiple directions. Rotation in multiple directions may be realized by combining multiple uniaxial rotation joints, or by one or more joints that can rotate in multiple directions. The joint 17 may be a ball joint. In the example of FIG. 2, the robot arm 10 has one joint 17 that can rotate in multiple directions. The joint 17 rotates in a direction, amount, and speed according to a control signal from the computing device 3.

[0037] The position of the treatment unit relative to the base end of the robot arm 10 changes as the joint 17 rotates in a rotation direction, a rotation amount, and a rotation speed according to a control signal from the computing device 3. The position here includes the position on a plane parallel to the bed 21 and the position in the height direction.

[0038] The treatment unit is, for example, a massage hand 10a, which is provided at the tip of the robot arm 10. The massage hand 10a has a drive mechanism (not shown) and is driven in accordance with a control signal from the computing device 3 at a position held by the robot arm 10. As a result, the massage hand 10a operates in contact with the treatment position of the user PT1 with a predetermined pressure, providing a physical stimulus. The operation of the massage hand 10a includes, for example, kneading and tapping operations.

[0039] According to the control signal from the arithmetic device 3, the robot arm 10 moves in the longitudinal direction of the bed 21, and the joint 17 rotates, so that the massage hand 10a installed at the tip of the robot arm 10 moves to a position according to the control signal from the arithmetic device 3. This allows the massage hand 10a to perform a massage action on the treatment position of the user PT1.

[0040] The arithmetic unit 3 receives signals indicating the direction, amount, and speed of rotation from the joint 17 of the robot arm 10. The arithmetic unit 3 also receives signals indicating the driving status from a driving mechanism (not shown) of the massage hand 10a. The arithmetic unit 3 also receives signals indicating the direction, amount, and speed of movement from the moving device 12.

[0041] The arithmetic device 3 is configured to be able to identify the position of the massage hand 10a based on a signal from the moving device 12 and a signal from the joint 17 of the robot arm 10. That is, the arithmetic device 3 identifies the position of the base end of the robot arm 10 relative to the bed 21 based on the signal from the moving device 12, and identifies the position of the massage hand 10a relative to the base end of the robot arm 10 based on the signal from the joint 17. This allows the arithmetic device 3 to identify the position of the massage hand 10a relative to the bed 21.

[0042] The massage hand 10a may include a sensor (not shown) and input a sensor signal to the arithmetic device 3. One example of the sensor is a pressure sensor. The pressure sensor detects the pressure received from the treatment position of the user PT1 and inputs a signal indicating the detection result to the arithmetic device 3. Another example of the sensor is a rotation sensor. The rotation sensor detects the rotation torque and rotation speed of a motor required for the kneading and tapping operations of the massage hand 10a and inputs a signal indicating the detection result to the arithmetic device 3.

[0043] The sensor detects the reaction force of the massage by the massage hand 10a, specifically, the reaction force of the massage that changes according to the stiffness (i.e., stiffness) of the treatment area. Therefore, the information indicated by the sensor signal can be said to be information indicating the effect of the treatment by the massage hand 10a.

[0044] The massage device 1 has two operation modes: an operation mode for performing a massage operation (hereinafter also referred to as a massage mode), and an operation mode for setting a position for the user PT1 (hereinafter also referred to as a setting mode).

[0045] In the massage mode, the calculation device 3 controls the driving of the moving device 12 and the joints 17 of the robot arm 10 in order to place the massage hand 10a in a treatment position according to the massage operation program 321 (FIG. 3). This allows the massage hand 10a to be moved to a position suitable for massaging the user PT1.

[0046] In the setting mode, the calculation device 3 does not control the driving of the moving device 12 and the joint 17 of the robot arm 10. Therefore, the robot arm 10 and the massage hand 10a can be moved by the guidance of an operator such as the therapist PT2. The operator's guidance includes pushing the robot arm 10 and the massage hand 10a in the direction of movement with the operator's hand, rotating the joint 17 of the robot arm 10, etc.

[0047] In the setting mode, the computing device 3 identifies the position of the massage hand 10a relative to the bed 21 based on the signal from the moving device 12 and the signal from the joint 17 of the robot arm 10. This identifies the position of the massage hand 10a moved by the operator's guidance relative to the bed 21.

[0048] Preferably, the moving device 12 includes a locking unit 12a. The locking unit 12a is a mechanism for switching the moving device 12 between a state where the moving device 12 can be guided by the operator and a state where the moving device 12 cannot be guided by the operator. As an example, the locking unit 12a is a locking mechanism for preventing (locking on) the moving device 12 from moving along the rail 11 or for releasing (locking off) the prevention. Specifically, the locking unit 12a is locked on in the massage mode and is locked off in the setting mode. Locking on may be to physically prevent the moving device 12 from moving, or may be to return the moving device 12, which has been moved by the guide, to the position before the moving device 12 was moved by the calculation device 3.

[0049] A similar locking portion 17a may also be included in the joint 17 of the robot arm 10. The locking portion 17a is a mechanism for switching the rotation of the joint 17 between a rotatable state and a rotatable state under the guidance of an operator.

[0050] For example, the lock units 12a and 17a are switched between lock-on and lock-off in accordance with a control signal from the computing device 3. The lock-on and lock-off may be switched by an operator operating an operation unit described later. In this way, even if the robot arm 10 accidentally hits a hand or the like in the massage mode, the robot arm 10 does not move and the massage operation continues.

[0051] The massage device 1 has a touch panel 13 as an example of an operation unit that accepts operations by an operator. The operations by the operator include a setting operation of a setting position, which will be described later.

[0052] The touch panel 13 is disposed in a position that is easy for an operator to operate, and as one example, is disposed at the base of the robot arm 10. This makes it easy for an operator in the vicinity of the bed 21 to operate it.

[0053] The touch panel 13 inputs an operation signal according to a user operation to the arithmetic device 3. The arithmetic device 3 executes processing according to the operation signal. One example of a user operation on the touch panel 13 is an operation to specify a selection result of a massage course. In this case, the arithmetic device 3 executes processing according to a program corresponding to the selected massage course indicated by the operation signal. As a result, a massage course is selected, and a pre-finishing massage according to the selected massage course is given to the user PT1.

[0054] Preferably, the massage device 1 has setting buttons 13A and 13B as an example of an operation unit that accepts an operation by an operator. The setting buttons 13A and 13B are a button for instructing a reference position, which will be described later, and a button for instructing a special position, which will be described later, respectively.

[0055] The setting buttons 13A and 13B are disposed at positions where the operator can operate them while guiding the robot arm 10. As an example, as shown in the enlarged view of part A in FIG. 2, they are disposed near the massage hand 10a of the robot arm 10R. This makes it easier for the operator guiding the robot arm 10 to operate them while placing his / her hand on the massage hand 10a in order to set the reference position or special position. Note that, as another example, the setting buttons 13A and 13B may be provided on the other robot arm 10L, or may be provided on each of the robot arm 10R and the robot arm 10L.

[0056] The setting buttons 13A and 13B input operation signals according to operations by an operator or the like to the arithmetic device 3. The arithmetic device 3 executes processing according to the operation signals. The user operation on the setting buttons 13A and 13B is a setting operation for setting a setting position, which will be described later. In this case, the arithmetic device 3 executes an identification process, which will be described later, using the operation signals.

[0057] The massage device 1 has a microphone 14. The microphone 14 receives voice input from the user PT1 who is lying on the bed 21, and transmits the voice data to the calculation device 3. For this reason, the microphone 14 is placed at a position where voice from the user PT1 who is lying face down on the bed 21 can be input.

[0058] The massage device 1 has a speaker 15. The speaker 15 outputs a voice based on the voice data passed from the arithmetic device 3 in accordance with a control signal from the arithmetic device 3. The speaker 15 is disposed at a position where the voice can reach the user PT1 who is lying face down on the bed 21.

[0059] 3, the arithmetic device 3 is configured as a computer having a processor 31 and a memory 32. The processor 31 is, for example, a CPU. The memory 32 includes a flash memory, an EEPROM, a ROM, a RAM, etc. Alternatively, the memory 32 may be a primary storage device or a secondary storage device.

[0060] The memory 32 stores a massage operation program 321 executed by the processor 31. The processor 31 executes the massage operation program 321 to perform arithmetic processing (hereinafter, abbreviated as arithmetic processing) for causing the massage device 1 to perform a pre-finishing massage.

[0061] The arithmetic device 3 includes a communication device 33 capable of communicating with other devices such as a server 5 via a network 7. When the arithmetic device 3 includes the server 5, the arithmetic device 3 does not necessarily need to include the communication device 33.

[0062] The arithmetic processing executed by the processor 31 includes an identification process 311. The identification process 311 includes a process of identifying a set position. The set position is a position used for the massage operation by the massage device 1, and includes a reference position according to the physique of the user PT1. The setting method will be described later.

[0063] The arithmetic processing includes a mode switching process 312. The mode switching process 312 includes switching between a massage mode and a setting mode. Specifically, when switching between the massage mode and the setting mode, the processor 31 outputs a control signal to the lock unit 12a of the moving device 12 to lock on the lock unit 12a in the massage mode and to lock off the lock unit 12a in the setting mode.

[0064] The arithmetic processing includes a motion control processing 313. The motion control processing 313 includes a processing for making the massage device 1 perform a massage action. In the motion control processing 313, the processor 31 outputs a control signal for moving the robot arm 10 to the moving device 12 and / or the joint 17 of the robot arm 10 according to a program for making the massage device 1 perform a massage action designated by, for example, an operation signal from the touch panel 13. In addition, in the motion control processing 313, the processor 31 outputs a control signal for driving the massage hand 10a to a drive mechanism of the massage hand 10a (not shown).

[0065] The calculation process includes a linking process 314. The linking process 314 refers to a process for linking a pre-finishing massage by the massage device 1 with a subsequent finishing massage by the therapist PT2. The linking process 314 includes an information generating process 315. The information generating process 315 includes generating information to be provided to the therapist PT2.

[0066] The provided information includes information indicating the treatment contents of the pre-finishing massage. The information indicating the treatment contents of the pre-finishing massage includes, for example, information indicating a selected massage course, information indicating an actual operation time, etc. By including the provided information indicating the treatment contents of the pre-finishing massage, the therapist PT2 can perform the finishing massage based on the treatment contents of the pre-finishing massage in the finishing massage.

[0067] The provided information includes information indicating the therapeutic effect of the pre-finishing massage. The information indicating the therapeutic effect of the pre-finishing massage is, for example, values ​​obtained by sensors such as the pressure sensor and rotation sensor during the massage operation, and information based on audio data obtained by the microphone 14 during the massage operation. The information indicating the therapeutic effect is specifically information indicating the physical condition of the user PT1 after the treatment, such as areas where stiffness has been relieved and areas where stiffness remains. This information included in the provided information may be output as a map that diagrammatically shows the body of the user PT1.

[0068] By including in the provided information the information indicating the therapeutic effects of the pre-finishing massage, the therapist PT2 can perform the finishing massage in consideration of the therapeutic effects of the pre-finishing massage. A specific method of generating the information will be described later.

[0069] The cooperation process 314 includes an information output process 316. The information output process 316 includes outputting the provided information after the treatment of the pre-finishing massage. The output destination may be the terminal device 9 carried by the massage provider PT2. In this way, the provided information is provided to the massage provider PT2.

[0070] The output destination may be the server 5. In this case, the processor 31 passes the provided information to the communication device 33 and causes it to be transmitted to the server 5. Preferably, the processor 31 causes the provided information to be transmitted to the server 5 in association with identification information such as a user ID (identification) of the user PT1. This allows the provided information to be stored in the server 5 in association with the user ID of the user PT1, as shown in FIG. 3.

[0071] The cooperation process 314 includes an audio output process 317. The audio output process 317 includes outputting audio for dialogue with the user PT1 from the speaker 15 during a period related to the provision of the pre-finishing massage. The processor 31 executes an information generation process 315 in parallel with the audio output process 317, and generates information to be provided using audio data from the microphone 14. That is, the processor 31 generates information to be provided from audio data obtained by dialogue with the user PT1 during a period related to the provision of the pre-finishing massage.

[0072] The period related to the treatment of the pre-finishing massage is, for example, during the treatment of the pre-finishing massage. Thus, the information to be provided is generated based on the dialogue with the user PT1 during the treatment of the pre-finishing massage. In this case, audio data such as the effect of the pre-finishing massage can be obtained.

[0073] As another example, the period related to the pre-finishing massage may be after the end of the pre-finishing massage. In this way, the information to be provided is generated based on the dialogue with the user PT1 after the pre-finishing massage. In this case, voice data such as the effect of the pre-finishing massage and requests for the finishing massage can be obtained.

[0074] As another example, the period related to the treatment of the pre-finishing massage may be before the start of the pre-finishing massage. In this way, the information to be provided is generated based on the dialogue with the user PT1 before the treatment of the pre-finishing massage. In this case, voice data such as expectations for the pre-finishing massage and requests for the finishing massage can be obtained.

[0075] A flow of a massage treatment for the user PT1 using the system 100 will be described with reference to Fig. 4. The process of Fig. 4 starts when the user PT1 is guided to the first massage room R1 in Fig. 1 and lies flat on the bed 21. The massage device 1 is placed on the bed 21 in advance.

[0076] 4, when starting to use the massage device 1, the position of the massage device 1 with respect to the user PT1 is set. The start of use is instructed to the arithmetic device 3 by, for example, an operator pressing a start button displayed on the touch panel 13.

[0077] The processor 31 of the arithmetic device 3 switches the operation mode to the setting mode (step S100). In step S100, the processor 31 outputs a control signal to the lock units 12a and 17a to turn off the lock.

[0078] In the setting mode, an operator such as the therapist PT2 guides the robot arm 10 by hand or the like to recognize the set position. As an example, a case where reference positions P1, P2, and P3 are set will be described with reference to Fig. 2. The reference positions P1, P2, and P3 are the left shoulder, right shoulder, and center of the waist of the user PT1, respectively.

[0079] Referring to FIG. 2, the operator guides the robot arm 10R in the longitudinal direction of the bed 21 until the massage hand 10a reaches the reference position P1. This causes the moving device 12 to move in the direction of the arrow S. The operator places the massage hand 10a on the left shoulder of the user PT1, which is the reference position P1, and in this state presses the setting button 13A to instruct the setting of the reference position. Next, the operator places the massage hand 10a on the right shoulder of the user PT1, which is the reference position P2, and in this state presses the setting button 13A to instruct the setting of the reference position. Finally, the operator places the massage hand 10a at the center of the waist of the user PT1, which is the reference position P3, and in this state presses the setting button 13A to instruct the setting of the reference position.

[0080] The processor 31 of the arithmetic device 3 executes the discrimination process 311 by accepting the input of the operation signal of the setting button 13A in the setting mode, and discriminates the positions of the massage hand 10a at that time as the reference positions P1, P2, and P3, in that order.

[0081] When the predefined reference positions P1, P2, and P3 are identified, the processor 31 identifies the physique of the user PT1 based on the positions (step S101). In detail, referring to FIG. 2, the processor 31 identifies the distance W between the reference positions P1 and P2 as the shoulder width of the user PT1. The processor 31 also identifies the distance H between the midpoint of the reference positions P1 and P2 and the reference position P3 as the length from the shoulder to the waist of the user PT1. The processor 31 prestores the distances W and H for the physique required for massage, and identifies the physique of the user PT1 required for massage using the obtained distances W and H.

[0082] Another example of the set position includes a special position. The special position is a position for specifying adjustment of the massage operation. Adjustment of the massage operation includes adjustment of the intensity and adjustment of the massage content. The content of the massage may include, for example, the massage position and the corresponding technique of the massage operation. Specifically, the special position is a priority treatment position such as a place with strong stiffness, or a taboo treatment position such as a place where massage is not desired. These are ascertained by the operator by asking the user PT1 before the treatment, and are set in the massage device 1 by setting the position.

[0083] 2, when setting the special position P4, the operator guides the robot arm 10R in the longitudinal direction of the bed 21 until the massage hand 10a reaches the special position P4. This causes the moving device 12 to move in the direction of the arrow S. The operator places the massage hand 10a on the part of the user PT1 that is to be the special position P4, and in that state, presses the setting button 13B that instructs setting of the special position.

[0084] The processor 31 of the arithmetic device 3 executes the identification process 311 by accepting the input of the operation signal of the setting button 13B in the setting mode, and identifies the position of the massage hand 10a at that time as the special position P4 (step S103).

[0085] The setting of the position is not limited to the above method. As another example, as shown in the enlarged view of part B of FIG. 5, a reading device such as a camera 13C may be provided on the side of the robot arm 10R facing the user PT1, and the markers M1 to M4 installed on the upper surface of the user PT1 may be read. As another example, the camera 13C may also be provided on the other robot arm 10L, or on each of the robot arms 10R and 10L. In this case, the markers M1, M2, and M3 indicating the reference positions P1, P2, and P3 are respectively placed at the center of the left shoulder, right shoulder, and waist of the user PT1, so that the processor 31 can identify the physique of the user PT1. In addition, the marker M4 indicating the special position P4 is placed at a position that is to be the special position P4, so that the processor 31 can identify the special position P4.

[0086] In this example, the position is set using one robot arm 10R of the two robot arms 10R and 10L. In this case, the position of each of the multiple robot arms in the massage operation is set by the position set using one robot arm 10. As another example, the position may be set using all the robot arms.

[0087] Since the massage device 1 is movable and not fixed in position relative to the bed 21, when the massage device 1 is moved and installed near the bed 21, the position relative to the bed 21, i.e., the position relative to the user PT1, may not be an appropriate position for the treatment position. However, by setting the position in this way, the massage hand 10a can be appropriately moved to the treatment position in the subsequent massage operation. In other words, even when the massage device 1 is movable relative to the bed 21, the positional relationship with the user PT1 can be appropriately set. This allows an effective massage to be given to the user PT1.

[0088] When the above position setting is completed, the processor 31 switches the operation mode to the massage mode (step S105). At this time, the processor 31 applies the physique of the user PT1 identified in step S101 and the special position identified in step S103 to the program of the massage operation. Applying includes making the massage position according to the program a position corresponding to the user PT1, making the massage strength and massage contents at the special position corresponding to the user PT1, and so on.

[0089] Then, the processor 31 starts the massage operation (step S106). As a result, the massage device 1 performs the programmed massage operation, and the user PT1 is given the programmed pre-massage treatment. This allows high quality treatment to be performed regardless of the skill of the masseuse. In addition, the massage operation is performed according to the position set in steps S101 and S103, so that a pre-massage treatment suitable for the user PT1 is given.

[0090] During the massage operation, the processor 31 outputs a dialogue voice from the speaker 15 at a predetermined timing (step S107) and accepts input of voice data from the microphone 14 (step S109). The dialogue voice output in step S107 is output at the end of the massage operation, as an example. In this case, the dialogue voice output in step S107 is expected to be a question about the effectiveness of the treatment, such as "Are you feeling better?". The voice data input in step S109 at this time is a response to the question, such as "yes" or "no" indicating the effectiveness of the treatment.

[0091] As another example, the dialogue voice output in step S107 is output during the massage action. In this case, a question about impressions and requests during the treatment, such as "Does it hurt?", is assumed. At this time, the voice data input in step S109 is a response to the above question, such as "Yes" or "Make it harder" that indicates impressions and requests during the treatment.

[0092] The processor 31 may also output a dialogue voice and receive voice data input from the microphone 14 even after the massage operation is completed. In this case, the dialogue voice output is expected to be a question regarding the finishing massage, such as "Where would you like a finishing massage?". The voice data input at this time is a response to the above question, such as "right shoulder" or "left arm," which indicates a request for a finishing massage.

[0093] Based on the voice data thus input, the processor 31 executes the information generation process 315 to generate information to be provided (step S111). As an example, in the information generation process 315, the processor 31 has a learning model 51, and obtains the information to be provided by inputting the obtained voice data to the learning model 51.

[0094] The learning model 51 is a machine-learned learning model as shown in FIG. 6. That is, referring to FIG. 6, the learning model 51 is machine-learned by using a combination of a plurality of data, in which voice data is used as input data and information on the finishing massage is used as output data, as a teacher model. For example, the learning model 51 is trained with voice data of "yes" in response to a specific question "Are you feeling better?" as input data, and data representing "the time for the finishing massage is normal" as output data. Also, the learning model 51 is trained with voice data of "no" as input data, and data representing "the time for the finishing massage is longer" as output data. Also, the learning model 51 is trained with voice data of "right shoulder" in response to a question "Where would you like the finishing massage to be?" as input data, and data representing an instruction of "focus on the right shoulder" as output data. Also, the learning model 51 is trained with voice data of "upper left" as input data, and data representing an instruction of "focus on the upper left" as output data.

[0095] The machine learning of the learning model 51 is not limited to the one using voice data as a teacher model. Alternatively, the learning model 51 may be one that has been learned using other data as a teacher model in addition to voice data. As another example, the learning model 51 may be machine-learned using a history (e.g., an operation history) of the massage position and massage time of the massage device 1 as input data, and a massage position and massage time of the subsequent finishing massage as output data. As another example, the learning model 51 may be machine-learned using a key treatment position or a taboo treatment position that is set as a set position as input data, and a massage position and massage time of the subsequent finishing massage as output data. Note that the input data and the output data may be map data that shows the user's body in a schematic manner.

[0096] By using such a learning model 51, the processor 31 can easily obtain the provided information output from the learning model 51 by inputting the voice data to the learning model 51 in step S111.

[0097] As another example, the processor 31 may store in advance information to be provided corresponding to voice data, and output the information to be provided corresponding to the input voice data. For example, the processor 31 may store in advance information to be provided corresponding to a specific term, and read out information to be provided corresponding to the term obtained by performing a voice analysis on the input voice data.

[0098] Furthermore, the processor 31 may change parameters of the massage program based on the input voice data so that the massage operation conforms to the user's desire. This allows the user PT1 to receive a suitable massage, as if he or she were receiving a massage while talking to the masseuse.

[0099] After completing a series of massage operations (step S113), the processor 31 outputs the provided information generated in step S111 (step S115). When the pre-massage is completed, the user PT1 is guided to the second massage room R2 in Fig. 1. The user PT1 lies flat on the bed 22 and waits for the massage therapist PT2 to perform the finishing massage.

[0100] The output in step S115 includes, for example, causing the communication device 33 to transmit the provided information to the terminal device 9 carried by the therapist PT2 or to the server 5 accessible by the terminal device 9. As a result, the provided information is provided to the therapist PT2 who performs a finishing massage on the user PT1 in the second massage room R2.

[0101] The provided information is information for performing a finishing massage in conjunction with the pre-finishing massage, such as "The massage time will be short" as shown in FIG. 4. This allows the therapist PT2 to perform a finishing massage after the pre-finishing massage. In other words, in this system 100, the massage device 1 performs the pre-finishing massage, so the burden on the therapist PT2 can be reduced. Also, the massage service can be provided efficiently with a small number of therapists PT2.

[0102] This makes it possible to perform a pre-massage and a finishing massage on a user PT1 in different spaces using the system 100, as illustrated in Fig. 1. In such a case, the therapist PT2 performing the finishing massage may not be aware of the state of the user PT1 during or after the pre-massage. Even in such a case, the therapist PT2 can perform a finishing massage linked to the pre-massage by providing information based on the voice data at that time.

[0103] In addition, the provided information can be used as a medical record information related to the massage by storing the provided information in association with the identification information of the user PT1 in the server 5. Specifically, by storing the provided information together with the contents of the pre-finishing massage for each user PT1, it becomes possible to use it as a reference for the next treatment.

[0104] The provided information may be provided to the user PT1. In this case, the massage device 1 may further include an output device for the user PT1. As an example, the output device for the user PT1 is a display installed at a position where the user PT1 lying flat on the bed 21 can easily see the information. Alternatively, the provided information provided to the user PT1 may be output as audio from the speaker 15. In this case, the information may be output in an interactive format, for example. This allows the user PT1 to know information for the finishing massage.

[0105] Furthermore, the information provided to the user PT1 may be different from the information provided to the therapist PT2. In this case, the processor 31 generates information to be provided to the user PT1 together with the information to be provided to the therapist PT2 in step S111. The information provided to the user PT1 may, for example, be expressed differently from the information provided to the therapist PT2, or may have an explanation added thereto. This makes it possible to provide useful information to both the user PT1 and the therapist PT2.

[0106] <3. Notes> The present invention is not limited to the above-described embodiment, and various modifications are possible. [Explanation of symbols]

[0107] 1: Massage device 3: Arithmetic device 5: Server 7: Network 9: Terminal device 10: Robot arm 10L: Robot arm 10R: Robot arm 10a: Massage Hands 11: Rail 12: Mobile device 12a: Lock section 13: Touch panel 13A: Setting button 13B: Setting button 13C: Camera 14:Mike 15: Speaker 17: Joint 17a: Lock section 21: Bed 22: Bed 31: Processor 32: Memory 33: Communication equipment 51: Learning model 100: System 311: Identification process 312: Mode switching process 313: Motion control processing 314: Linkage processing 315: Information generation processing 316: Information output processing 317: Audio output processing 321: Massage program M1: Marker M2: Marker M3: Marker M4: Marker P1: Reference position P2: Reference position P3: Reference position P4:Special position PT1: User (recipient) PT2: Healer R1: First massage room R2: Second massage room S: Arrow

Claims

1. A massage apparatus for use in a massage facility, which performs a pre-massage on a user and performs a finishing massage on a user after the pre-massage, A computing device is provided, The computing device includes: generating provision information to be provided to the massage therapist for the finishing massage from information obtained during the treatment of the pre-finishing massage; The provided information includes information indicating the treatment content of the pre-finishing massage, The information indicating the treatment content includes at least one of information indicating a massage course selected by the user in the pre-finish massage or information indicating an operation time, outputting the provided information after the pre-finish massage treatment; The massage device is configured to perform a cooperative process for providing the massage therapist with the provided information.

2. The provided information includes information indicating a therapeutic effect of the pre-finishing massage.

2. The massage device of claim 1.

3. Equipped with a microphone, The computing device inputs the voice data obtained by the microphone during a period related to the administration of the pre-finish massage into a learning model that has been machine-trained to provide output information in response to the input of the voice data, and obtains the output information provided by the learning model; The provided information includes the output information.

3. A massage device according to claim 1 or 2.

4. The voice data includes data indicating the treatment effect of the pre-finishing massage, the data being obtained from the speech of the person to be treated.

4. The massage device according to claim 3.

5. It also has a speaker, The computing device is configured to output, from the speaker, a voice for dialogue with the person to be treated during a period related to the treatment of the pre-finishing massage.

5. The massage device according to claim 3 or 4.

6. The computing device is configured to store the provided information in association with specific information of the person to be treated in a storage device accessible by other devices. The massage device according to any one of claims 1 to 5.

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