Massage device operating on basis of intention of user and control method thereof

Abstract

According to one embodiment of the present invention, disclosed is a massage device in which a state of the massage device changes to a state corresponding to an intention of a user on the basis of the intention of the user.

Description

Massage device that operates based on user's intention and method for controlling the same

[0001] The present invention relates to a massage device that operates based on a user's intention and a method for controlling the same.

[0002] Massage is a medical auxiliary therapy that regulates the body's tone, helps blood circulation, and relieves fatigue by applying various forms of mechanical stimulation to parts of the body, such as kneading, pressing, pulling, tapping, or moving the body.

[0003] The growing demand for massage has led to a surge in demand for massage devices or appliances that offer artificial massage functions, driven by economic and time constraints. In other words, as demand grows for massage to relieve fatigue and stress by loosening tense muscles, a variety of time- and cost-effective massage devices are being released.

[0004] Recently, people's interest in health has increased, and massage devices are evolving from simply providing massage functions to electronic devices that provide various additional functions and / or medical functions.

[0005] Accordingly, various types of comfortable and relaxing chairs based on human science are being developed and put into practical use.

[0006] The technical problem to be solved by the present invention is to provide a massage device that operates based on the user's intention and a method for controlling the massage device.

[0007] According to one embodiment of the present invention for solving the above technical problem, a device includes a massage unit that supports a user's body and massages at least a part of the user's body; and a control unit that controls the massage unit; wherein the control unit can control the massage unit so that a state of the massage unit corresponds to the user's intention based on the user's intention.

[0008] In the above device, the control unit controls the massage unit based on whether the state of the massage unit corresponds to the user's intention, and if the state of the massage unit corresponds to the user's intention, the control unit can control to maintain the state of the massage unit, and if the state of the massage unit does not correspond to the user's intention, the control unit can control to change the state of the massage unit to a state corresponding to the user's intention.

[0009] In the above device, the control unit can determine any one of the plurality of arbitrary states as a state corresponding to the user's intention based on a plurality of preset arbitrary states and an arbitrary intention matching each arbitrary state, and can determine whether the state of the massage device corresponds to the user's intention based on the determination result.

[0010] In the above device, the massage unit includes a first support unit that supports the user's upper body; and a second support unit that supports the user's lower body; and the state of the massage unit is determined based on at least one of a first angle of the first support unit and a second angle of the second support unit, and the control unit can control the massage unit to change or maintain at least one of the first and second angles based on whether the state of the massage unit corresponds to the user's intention.

[0011] In the above device, the control unit can determine any one of the plurality of arbitrary states as a state corresponding to the user's intention based on a plurality of preset arbitrary states and an arbitrary intention matching each of the arbitrary states, and can determine whether the state of the massage unit corresponds to the user's intention based on an arbitrary angle matched to any one of the arbitrary states.

[0012] In the above device, the control unit can control to change the state of the massage unit to a state corresponding to the user's intention by changing the first and second angles based on any angle matching any one of the states, when the state of the massage unit is not a state corresponding to the user's intention.

[0013] In the above device, the control unit can control to change the state of the massage unit to a first standing state when the user's intention is to rest on the massage device or to operate at least one of the massage device and any device, and the state of the massage unit is not a state corresponding to the user's intention.

[0014] In the above device, the control unit can control to change the state of the massage unit to a second standing state when the user's intention is to board the massage device and the state of the massage unit does not correspond to the user's intention.

[0015] In the above device, the control unit can control to change the state of the massage unit to one of the first standing, second standing, third standing, reclining, and normal states corresponding to the user's intention when the user's intention is to rest and the state of the massage unit is not a state corresponding to the user's intention.

[0016] In the above device, the control unit can control the state of the massage unit to be changed to one of the first standing, second standing, third standing, reclining, and normal states corresponding to the user's intention based on the setting value input by the user.

[0017] In the above device, the control unit can control to change the state of the massage unit to a third standing state corresponding to the user's will when the user's will is to separate from the massage device and the state of the massage unit is not a state corresponding to the user's will.

[0018] In the above device, the control unit can control to change the state of the massage unit to a normal angle state when the user's intention is no longer detected.

[0019] In the above device, the control unit can obtain the user's intention based on at least one of a sensing value detected by a sensor of the massage device and a user's input transmitted from an input unit of the massage device.

[0020] In the above device, the sensor of the massage device may be at least one of a voice sensor that detects the user's voice, an object detection sensor that detects the user or whether the user is close to the massage device, a lidar sensor that detects the distance between the user and the massage device, a touch sensor that detects the user's touch, an IR sensor that detects a change in nearby infrared rays due to the user, a seating sensor installed on the second support member that detects the user's sitting, and an input unit of a remote control of the massage device.

[0021] In the above device, the control unit controls the state of the massage unit to a state corresponding to the user's intention based on at least one of a sensing value of a sensor of the massage device and an input of the user, wherein the state corresponding to the user's intention may include at least one of a first state corresponding to a first intention in which the user wishes to leave the massage device, a second state corresponding to a second intention in which the user wishes to board the massage device, a third state corresponding to a third intention in which the user wishes to rest in the massage device or operate an arbitrary device, and a fourth state corresponding to a fourth intention in which the user wishes to receive a massage from the massage device.

[0022] According to another embodiment of the present invention for solving the above technical problem, there is provided a method for controlling a massage device including a massage unit and a control unit, the method comprising: the step of the control unit acquiring a user's intention and a state of the massage unit; and the step of controlling the massage unit so that the state of the massage unit becomes a state corresponding to the user's intention based on the user's intention and the state of the massage unit.

[0023] The massage device according to the present invention can change the state of the massage device to a state corresponding to the user's intention based on the identified user's intention.

[0024] In addition, the massage device according to the present invention can operate based on the user's intention, so that the convenience of use of the massage device can be increased.

[0025] Figure 1 is a drawing showing a massage device according to one embodiment.

[0026] FIG. 2 is a block diagram showing an example of modules included in the massage device described in FIG. 1.

[0027] FIG. 3 is a diagram illustrating an external device capable of communicating with a massage device according to one embodiment.

[0028] Figures 4 to 11 are drawings for explaining the standing assistance function of the massage device.

[0029] Fig. 12 is a block diagram showing an example of a massage device according to the present invention.

[0030] Fig. 13 is a drawing for schematically explaining the various standing states of the massage unit of Fig. 12 and the relative positions of the sub-modules included in the massage unit.

[0031] Figure 14 is a drawing for comparing and explaining various standing states.

[0032] FIGS. 15 to 20 are drawings for explaining an embodiment in which a massage device according to the present invention changes a massage state to a state corresponding to the user's intention by taking into consideration the user's intention and the state of the massage device.

[0033] According to one embodiment of the present invention for solving the above technical problem, a device includes a massage unit that supports a user's body and massages at least a part of the user's body; and a control unit that controls the massage unit; wherein the control unit can control the massage unit so that a state of the massage unit corresponds to the user's intention based on the user's intention.

[0034] The present invention is capable of various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, as well as the methods for achieving them, will become clearer with reference to the embodiments described in detail below, along with the drawings. However, the present invention is not limited to the embodiments disclosed below and can be implemented in various forms.

[0035] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same drawing reference numerals, and redundant descriptions thereof will be omitted.

[0036] In the following examples, the terms first, second, etc. are not used in a limiting sense, but are used for the purpose of distinguishing one component from another.

[0037] In the examples below, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0038] In the following examples, terms such as “include” or “have” mean that a feature or component described in the specification is present, and do not preclude the possibility that one or more other features or components may be added.

[0039] In some embodiments, where the implementation is otherwise feasible, a particular process sequence may be performed in a different order than described. For example, two processes described in succession may be performed substantially simultaneously, or in a reverse order from the described order.

[0040] Figure 1 is a drawing showing a massage device according to one embodiment.

[0041] Referring to FIG. 1, a massage device (1000) may form an area for receiving at least a portion of a user's body, and may include a massage unit that supports the user's body (e.g., torso) and massages a portion of the user's body.

[0042] The shape and structure of the massage device (1000) illustrated in FIG. 1 are merely exemplary, and various forms of massage devices (1000) may also be included within the scope of the present invention, as long as they do not exceed the scope of rights defined by the claims of the present invention.

[0043] In FIG. 1, a user terminal (2000) refers to a terminal used by a user who uses a massage device (1000). The user can visually check the types of massages and detailed options that the massage device (1000) can provide to the user through a screen displayed on the user terminal (2000). The user terminal (2000) is connected to the massage device (1000) by wire or wirelessly, and after receiving a user's input, transmits a signal corresponding to the user's input to a processor that controls the operation of the massage device (1000), thereby causing the massage device (1000) to operate in a desired motion by the user. The user terminal (2000) may be at least one of a remote controller (Remocon), a cellular phone, and a PDA (Personal Digital Assistant), and is not limited thereto, and may include various electronic devices that can be connected to the massage device (1000) through wired or wireless communication.

[0044] FIG. 2 is a block diagram showing an example of modules included in the massage device described in FIG. 1.

[0045] Referring to FIG. 2, the massage device (1000) may include a control unit (1400), a sensor unit (1410), a communication unit (1420), a memory (1430), an audio output unit (1440), and an input unit (1450; or interface unit).

[0046] The control unit (1400) can control the overall operation of the massage device (1000). For example, the control unit (1400) can control the operation of the communication unit (1420), memory (1430), audio output unit (1440), and input unit (1450) included in the massage device (1000) by executing various programs stored in the memory (1430).

[0047] In addition, the control unit (1400) can physically change the appearance, shape, and position of a plurality of devices forming the appearance of the massage device (1000), which will be described later with reference to FIGS. 5A and 5B. For example, the control unit (1400) can control the operation of the massage device (1000). For example, the massage device (1000) can include a plurality of actuators, and the control unit (1400) can control the operation of the plurality of actuators, thereby causing various devices forming the appearance of the massage device (1000) to move.

[0048] As an example, the control unit (1400) may acquire the current state and target state of the massage unit included in the massage device (1000), and change the current state of the massage unit to a state corresponding to the target state based on the current state and the target state. The control unit (1400) may be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

[0049] The massage device (1000) may include a sensor unit (1410). The sensor unit (1410) may acquire various information using at least one sensor. The sensor unit (1410) may include, but is not limited to, a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, an electrode sensor, an air pressure measurement sensor, and the like.

[0050] As an example, the sensor unit (1410) may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire at least one of fingerprint information, face information, voice information, iris information, weight information, blood pressure information, heart rate (or pulse) information, electrocardiogram information, and body composition information, but is not limited thereto and may include various types of biometric information. The massage device (1000) may provide a customized massage to the user based on information acquired through various sensors included in the sensor unit (1410). The massage device (1000) may detect a contact area and / or contact position with the user through the sensors included in the sensor unit (1410) and transmit the detected result to the control unit (1400), thereby inducing the control unit (1400) to appropriately operate the massage device (1000).

[0051] As another example, the sensor unit (1410) may include a safety sensor. The safety sensor may control the operation of the massage device (1000) or issue a warning to the user when a specific part of the massage device (1000) is pressed by the user's body or other objects. In addition, the sensor unit (1410) may include a camera. The camera may capture images of the user using the massage device (1000), generate images, and transmit the generated images to the control unit (1400) or memory (1430).

[0052] The communication unit (1420) can receive a signal transmitted from an external device or transmit a signal to the massage device (1000) to an external device.

[0053] For example, the control unit (1400) can process a signal received through the communication unit (1420) to obtain a result signal and transmit the result signal to the communication unit (1420). The communication unit (1420) can transmit (or output) the result signal to an external device.

[0054] The communication unit (1420) can communicate with a module inside the massage device (1000), an external massage device, and / or a user terminal (2000) through any type of network. The communication unit (1420) can include a wired / wireless connection module for network connection. For example, the communication unit (1420) can communicate with internal / external devices of the massage device (1000) using, but is not limited to, WLAN (Wireless LAN) (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed ​​Downlink PacketAccess), PLC (Power Line Communication), Bluetooth, RFID (Radio Frequency Identification), infrared communication (IrDA, infrared Data Association), UWB (Ultra-Wideband), ZigBee, etc.

[0055] The memory (1430) is hardware that stores various data processed in the massage device (1000), and can store a program for processing and controlling the control unit (1400). In addition, the memory (1430) can store information about a user using the massage device (1000). Here, the information about the user may be various information related to the user, such as personal authentication information, the user's biometric information (e.g., age, height, weight, blood pressure, body composition, heart rate, electrocardiogram, etc.), but is not limited thereto.

[0056] The memory (1430) may include random access memory (RAM) such as dynamic random access memory (DRAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), CD-ROM, Blu-ray or other optical disk storage, hard disk drive (HDD), solid state drive (SSD), or flash memory.

[0057] The output unit (1440) may include various output modules that output various types of information processed by the control unit (1400). For example, the output unit (1440) may include a display that outputs still images / videos and a speaker that outputs voice / sound. In particular, the display included in the output unit (1440) not only outputs a user interface (UI) for controlling the massage device (1000), but when implemented as a touch screen panel, it may simultaneously perform the function of the output unit (1440) that outputs the user interface, as well as the function of the input unit (1450) that receives a user's touch input and transmits it to the control unit (1400).

[0058] When the output unit (1440) is implemented as a touch screen panel, the output unit (1450) may be placed on at least a portion of the massage device (1000). For example, the output unit (1450) may be placed adjacent to an arm massage unit that massages the user's arm, taking into account the user's convenience of operation.

[0059] The input unit (1450) can receive a user's input and transmit it to the control unit (1400). For example, the user can change the massage mode of the massage device (1000) by applying a predetermined input to the input unit (1450). As another example, the user can change the massage area of ​​the massage device (1000) by applying a predetermined input to the input unit (1450). The input unit (1450) can include a display based on a touch screen panel that simultaneously performs the function of the output unit (1440) and a button / keyboard that detects physical pressure applied by the user. In one embodiment, the input unit (1450) can include a microphone (MIC), and according to the present embodiment, the massage device (1000) can change the operation of the massage device (1000) based on recognition of the user's voice.

[0060] FIG. 3 is a diagram illustrating an external device capable of communicating with a massage device according to one embodiment.

[0061] Referring to FIG. 3, the massage device (1000) can transmit and receive various data by communicating with an external device (3000) via a communication unit (1420) via wired or wireless communication.

[0062] For example, the external device (3000) may include a portable electronic device (3100) such as an AI speaker, a tablet, or a smartphone. The portable electronic device (3100) may be a dedicated massage device (1000) or a general-purpose portable electronic device. In addition, the external device (3000) may include a wearable device (3200) such as a smartwatch or a smartband. In addition, the external device (3000) may include a massage device (3300) other than the massage device (1000) currently being used by the user. In addition, the external device (3000) may include a hospital server (3400). In addition, the external device (3000) may include a personal health record (PHR) server. In addition, the external device (3000) may include a cloud server (3500). Additionally, the external device (3000) may include a medical measuring device such as an electronic scale, a blood glucose meter, or a blood pressure meter.

[0063] Although some examples of external devices (3000) are described in this disclosure, any device that can communicate with the massage device (1000) wired or wirelessly and exchange information with each other may be considered an external device.

[0064] Figures 4 to 11 are drawings for explaining the standing assistance function of the massage device.

[0065] Referring to FIGS. 4 to 11, the massage device (1000) may include a support structure, a standing assistance device, and a reclining means.

[0066] The support structure is a structure that constitutes the first support portion (5200a) and the second support portion (5200b) described later in FIG. 14, and can be formed in various structures such as at least one of a frame and a plate.

[0067] The support structure can support the user's body and various components of the massage device (1000). At this time, the various components can include at least one of a massage module, an air cell, at least one actuator included in the massage module, an air supply device that supplies or discharges air to the air cell to expand or contract it, a reclining angle adjustment device, a standing assistance device, and a control unit.

[0068] The support structure is made of an injection molded material having a shape corresponding to the body so as to comfortably support the user's body part, and is covered with an interior material such as urethane foam, sponge or expanded styrol, and the interior material is covered with an outer cover made of polyester tricot, synthetic leather or natural leather.

[0069] Below, the support structure is described in detail.

[0070] According to one embodiment of the present disclosure, the support structure may include a main frame (1), a base frame (10), a tilting frame (20), a tilting axis (21), and a rack gear (90).

[0071] As illustrated in FIGS. 4, 5a, and 5b, the main frame (1) can support at least a portion of the user's body. For example, the main frame (1) can include a seat frame (30) and a backrest frame (40). The seat frame (30) can support at least a portion of the user's lower body. The backrest frame (40) can support at least a portion of the user's upper body.

[0072] The base frame (10) can be placed on the floor surface to support the entire massage device (1000). For example, the base frame (10) can be placed at the bottom of the main frame (1) to support the main frame (1).

[0073] The base frame (10) may include a plurality of horizontal base frames (11), a plurality of vertical base frames (12), and a reinforcing frame (13).

[0074] A plurality of horizontal base frames (11) can be installed to extend in the front-back and left-right directions and placed on the floor surface.

[0075] A plurality of vertical base frames (12) can be installed to extend in a first direction on both front and rear sides of the horizontal base frame (11). At this time, the first direction can be the upper direction of the base frame (10) (or the upper direction of the horizontal base frame (11)). For example, a plurality of vertical base frames (12) can be installed perpendicularly to a plurality of horizontal base frames (11).

[0076] The plurality of vertical base frames (12) may include front-side vertical base frames (12a) arranged on both front sides of the horizontal base frame (11) and rear-side vertical base frames (12b) arranged on both rear sides of the horizontal base frame (11). The front-side vertical base frame (12a) and the rear-side vertical base frame (12b) may be installed vertically with respect to the plurality of horizontal base frames (11).

[0077] The reinforcing frame (13) can connect the front vertical base frame (12a) and the rear vertical base frame (12b) to each other. For example, the reinforcing frame (13) can connect the upper part of the front vertical base frame (12a) and the upper part of the rear vertical base frame (12b). The reinforcing frame (13) can connect at least a portion of the area between the upper and lower parts of the front vertical base frame (12a) and the upper part of the rear vertical base frame (12b). At this time, at least a portion of the area between the upper and lower parts of the front vertical base frame (12a) can be the middle part (or middle portion) of the front vertical base frame (12a).

[0078] The tilting frame (20) can be arranged between the main frame (1) and the base frame (10) to support the main frame (1). For example, the tilting frame (20) can be connected to a tilting shaft (21) that is installed to extend laterally at the front of the base frame (10). At this time, the tilting shaft (21) can be arranged (or installed) to extend laterally at the upper side of the front portion of the base frame (10) (for example, the upper side of the front vertical base frame (12a)).

[0079] The tilting frame (20) is installed so that the front part can rotate up and down around the tilting axis (21) and can tilt (or rotate) with respect to the base frame (10) by a standing auxiliary tilting means.

[0080] For example, the tilting frame (20) forms a roughly rectangular skeleton and can rotatably support the seat frame (30) and the backrest frame (40) on the base frame (10). The lower portions of the front sides of the tilting frame (20) are connected to the tilting axis (21), so that the lower portions of the front sides can rotate up and down around the tilting axis (21) to perform the function of adjusting the standing assistance angle of the seat frame (30) and the backrest frame (40).

[0081] Referring to FIGS. 5a and 5b, the tilting frame (20) may include a horizontal tilting frame (22), a plurality of vertical tilting frames (23a, 23b), and reinforcing tilting frames (24a, 24b, 24c).

[0082] The horizontal tilting frame (22) can be implemented (or formed) in a square frame shape by being arranged to extend in the front-back and left-right directions between the vertical base frames (12) and reinforcing frames (13) on both sides. At this time, the rear end of the horizontal tilting frame (22) can be connected to a tilting actuator (60), which is a standing assistance tilting means, to receive external force.

[0083] A plurality of vertical tilting frames (23a, 23b) can be installed in a second direction on both front and rear sides of the horizontal tilting frame (22). At this time, the second direction can be the lower direction of the tilting frame (20) (or the upper direction of the horizontal tilting frame (22)). For example, the plurality of vertical tilting frames (23a, 23b) can be installed perpendicularly to the horizontal tilting frame (22). In addition, the front-side vertical tilting frame (23a) and the rear-side vertical tilting frame (23b) can be arranged to overlap on the lateral (left-right) inner side of the front-side vertical base frame (12a) and the rear-side vertical base frame (12b).

[0084] Among the plurality of vertical tilting frames (23a, 23b), at least a portion of the area between the upper and lower portions of the front vertical tilting frame (23a) may be rotatably connected to the upper portion of the front vertical base frame (12a) by a tilting axis (21). At this time, at least a portion of the area between the upper and lower portions of the front vertical tilting frame (23a) may be the middle portion (or intermediate portion) of the front vertical tilting frame (23a).

[0085] The reinforcing tilting frame (24a, 24b, 24c) can reinforce the strength of the tilting frame (20) by connecting the front vertical tilting frame (23a) and the rear vertical tilting frame (23b).

[0086] For example, the reinforcing tilting frame (24a, 24b, 24c) may include a front-side vertical reinforcing tilting frame (24a) arranged on (or coupled to) the outer surface of the front-side vertical tilting frame (23a), a rear-side vertical reinforcing tilting frame (24b) arranged on the outer surface of the rear-side vertical tilting frame (23b), and a horizontal reinforcing tilting frame (24c) connecting between the front-rear vertical reinforcing tilting frames (24a and 24b).

[0087] The front-side vertical reinforcing tilting frame (24a) and the rear-side vertical reinforcing tilting frame (24b) can be arranged on the same line as the front-side vertical base frame (12a) and the rear-side vertical base frame (12b), respectively. The lower part of the rear-side vertical reinforcing tilting frame (24b) can be supported by being seated on the upper part of the rear-side vertical base frame (12b), thereby functioning as a stopper and increasing the supporting force. At this time, when the length of the front-side vertical reinforcing tilting frame (24a) is shorter than the length of the rear-side vertical reinforcing tilting frame (24b), and the length of the front-side vertical base frame (12a) is formed longer than the length of the rear-side vertical base frame (12b), so that the tilting axis (21) is positioned higher than the upper part of the rear-side vertical base frame (12b), there is an advantage in that a large tilting force can be obtained even if the driving force of the tilting actuator (60) is reduced.

[0088] When the lower part of the rear-side vertical reinforcing tilting frame (24b) is connected to and seated on the upper part of the rear-side vertical base frame (12b), a cushioning material (not shown) made of an elastic material such as rubber or silicone to absorb shock may be installed between the lower part of the rear-side vertical reinforcing tilting frame (24b) and the upper part of the rear-side vertical base frame (12b).

[0089] The horizontal reinforcing tilting frame (24c) may include an upper horizontal reinforcing tilting frame and a lower horizontal reinforcing tilting frame. The upper horizontal reinforcing tilting frame may connect the upper portions of the front-rear vertical reinforcing tilting frames (24a and 24b). The lower horizontal reinforcing tilting frame may connect at least a portion between the upper and lower portions of the front-rear vertical reinforcing tilting frames (24a and 24b). For example, the lower horizontal reinforcing tilting frame may have one end connected to the lower portion of the front-rear vertical reinforcing tilting frame (24a), and the other end connected to the middle portion of the rear-rear vertical reinforcing tilting frame (24b).

[0090] On the inner surface of the upper horizontal reinforcing tilting frame (24c), a plurality of reclining rollers (73) guided by reclining rails (72) installed on both sides of the seat frame (30) can be installed rotatably.

[0091] The tilting frame (20) having this structure provides the advantage of being able to implement standing assistance and reclining functions without increasing the overall size of the massage device, particularly the left-right width.

[0092] In addition, there is an advantage in that the position of the tilting axis (21) is raised by the structure of the tilting frame (20) as described above, so that a large tilting force can be obtained even with a small driving force.

[0093] The tilting frame (20) can be rotated up and down around the tilting axis (21) by a standing auxiliary tilting means installed at the bottom of the tilting frame (20). For example, the standing auxiliary tilting means can be arranged between the base frame (10) and the tilting frame (20) to tilt the tilting frame (20) around the tilting axis (21). Specifically, one end of the standing auxiliary tilting means can be connected to the front of the base frame (10) (e.g., a front horizontal base frame among a plurality of horizontal base frames (11)) and the other end can be connected to the rear of the tilting frame (20) (e.g., the rear end of the horizontal tilting frame (22)).

[0094] The standing-assisting tilting means can tilt the tilting frame (20) around the tilting axis (21) by adjusting the length between one end and the other end of the standing-assisting tilting means. At this time, the standing-assisting tilting means may be a tilting actuator (60).

[0095] The seat frame (30) is rotatably installed on the upper part of the tilting frame (20) and can support (or support) the user's buttocks.

[0096] The backrest frame (40) is positioned at the rear end of the seat frame (30) and is formed (or installed) in a shape extending upward to support the user's back. The seat frame (30) and the backrest frame (40) form a support structure within the first support portion (5200a) and the second support portion (5200b) of the massage device (1000).

[0097] The seat frame (30) may be a skeleton of the second support member (5200b), and the backrest frame (40) may be a skeleton of the first support member (5200a). The seat frame (30) and the backrest frame (40) may be connected to each other as one piece.

[0098] As described above, the seat frame (30) and the backrest frame (40) are formed integrally with each other so that the seat frame (30) and the backrest frame (40) can rotate together, but this is not limited to this. For example, the seat frame (30) and the backrest frame (40) may be formed to be physically distinct and connected so as to be capable of relative rotation.

[0099] The rack gear (90) is a member that meshes with the pinion gear provided in the massage module (100) to generate a driving force for the up-and-down movement of the massage module (100), and can be installed in the seat frame (30) and the backrest frame (40). A rail for guiding the up-and-down movement of the massage module (100) can be configured in parallel just above the rack gear (90) in the seat frame (30) and the backrest frame (40). The rack gear (90) can be implemented with a metal material or a plastic material. For example, the rack gear (90) can be implemented with iron, steel, an alloy, reinforced plastic, melamine resin, phenol resin, etc., but is not limited thereto. In addition, the rack gear (90) may be made of a flexible material so that it can be flexibly deformed according to changes in the angle between the seat frame (30) and the backrest frame (40) when the seat frame (30) and the backrest frame (40) are connected to enable relative rotation.

[0100] According to one embodiment of the present invention, the rack gear (90) may be provided in a form facing each other on both sides of the seat frame (30) and the backrest frame (40), and the massage module (100) may move along the rack gear (90). As illustrated in FIG. 4, the rack gear (90) is formed in a vertical direction, but is not limited thereto. The rack gear (90) may include a rack gear in a forward-rearward direction and a rack gear in an upward-rearward direction. In the present invention, the forward-rearward direction means a direction from the massage module (100) toward the user or from the user toward the massage module (100), and may also be referred to as the Z-axis direction.

[0101] The massage module (100) may include a gear that meshes with the rack gear (90). More specifically, the massage module (100) may include a plurality of gears that mesh with the rack gear in the forward-rear direction and the rack gear in the up-down direction, respectively. By rotating the gears by the actuator provided in the massage module (100), the massage module (100) may tilt (or rotate) in at least one direction among the forward direction and the backward direction of the massage module (100) and move in at least one direction among the upward direction and the downward direction of the massage module (100). As the massage module (100) moves forward, the intensity of the massage may increase. Additionally, as the massage module (100) moves backward, the intensity of the massage may decrease.

[0102] As illustrated in FIG. 6, the normal state (or normal state) of the massage device (1000) is such that the seat frame (30) and the backrest frame (40) can be tilted rearward at a certain angle. For example, the seat frame (30) may be raised upward by approximately 14 to 15 degrees with respect to an axis horizontal to the ground in the normal state. Through this, the user can receive a massage while comfortably sitting on the massage device (1000).

[0103] However, the user must use a lot of force when trying to stand up from the massage device (1000) after using the massage device (1000) because the seat frame (30) and the backrest frame (40) are tilted at a certain angle.

[0104] In order to solve the above-described problem, the massage device (1000) can change the state of the massage device (1000) from a normal state or a zero-gravity state to a standing assistance state by executing the standing assistance mode (or standing assistance function) of the massage device (1000) through a standing assistance device, as illustrated in the left drawing of Fig. 6. Through this, the massage device (1000) can assist the user in standing up when the user wants to stand up from the massage device (1000) after using the massage device (1000), thereby allowing the user to stand up with less force.

[0105] Below, the standing assist device is described in detail.

[0106] According to one embodiment of the present disclosure, the standing assistance device may include at least one of a standing assistance tilting means and a standing assistance means.

[0107] The standing assistance tilting means is arranged at the lower part of the support structure based on the control of the control unit (1400) (see FIG. 2) and can tilt the support structure in at least one direction among the forward direction (or upward direction) and the backward direction (or downward direction) based on the tilting axis (21) arranged at the front part of the support structure.

[0108] For example, the standing assistance tilting means may include a tilting actuator (60). The tilting actuator (60) may have a front end hingedly connected to the front of the base frame (10) and a rear end hingedly connected to the lower end of the rear end of the tilting frame (20). The tilting actuator (60) may be an electric actuator having an operating rod (61). The tilting actuator may be extended and contracted while receiving power from a motor that operates by power supplied from a control device of the massage device (1000) and thereby performing a linear reciprocating motion.

[0109] As described above, the tilting actuator (60) is an electric actuator operated by a motor, but is not limited thereto. For example, the tilting actuator (60) may be a hydraulic actuator having an operating rod that is extended by the pressure of a fluid (e.g., air) supplied from a pneumatic supply device (not shown).

[0110] For example, when the stand-up assist mode is executed, the control unit (1400) can assist the user in standing up by driving the stand-up assist tilting means to change the state of the massage device (1000) from the normal state (the state shown in the middle of FIG. 6 and FIG. 7) to the stand-up assist state as shown in the left figure of FIG. 6 and FIG. 8. The stand-up assist state may be a state in which the seat frame (30) is lowered by approximately 10° with respect to a horizontal axis relative to the ground and the backrest frame (40) is rotated forward to approach a vertical axis.

[0111] For example, after the user has finished using the massage device (1000), the user can activate the standing assistance mode of the massage device (1000) through the command input device equipped in the massage device (1000) or the dedicated app of the smartphone. When the standing assistance mode is activated, the control unit (1400) can rotate the tilting frame (20) forward (or upward; counterclockwise in the drawing) around the tilting axis (21) by operating the motor of the tilting actuator (60) to extend the operating rod (61). In other words, the control unit (1400) can change the massage device (1000) from the normal state (the state illustrated in the middle drawing of FIG. 6 and FIG. 7) to the standing assistance state, as illustrated in FIGS. 6 and 8.

[0112] Through this, the control unit (1400) provides the user with a standing assistance force that pushes the user's body forward through a change in the angle of the tilting frame (20), thereby allowing the user to stand up slightly forward, thereby allowing the user to stand up comfortably with little force on the massage device (1000).

[0113] As another example, the control unit (1400) can assist the user in sitting by driving the standing assistance tilting means to change the state of the massage device (1000) from the standing assistance state illustrated in FIG. 8 to the normal state illustrated in FIG. 7.

[0114] For example, the control unit (1400) can tilt the tilting frame (20) in the rearward direction (or downward direction; counterclockwise in the drawing) about the tilting axis (21) by operating the motor of the tilting actuator (60) to contract the operating rod (61). In other words, the control unit (1400) can assist the user in sitting by tilting the tilting frame (20) backward to return the tilting frame (20) to the initial position (or normal state) before tilting. That is, the standing assistance tilting means can assist the user in standing by tilting the support structure in the forward direction of the support structure, and can assist the user in sitting by tilting the support structure in the rearward direction of the support structure.

[0115] As described above, the massage device (1000) can assist the user in standing up by changing the state of the massage device (1000) through the standing assistance tilting means, but is not limited thereto. For example, the massage device (1000) can assist the user in standing up not only through the standing assistance tilting means but also through the standing assistance means. For example, the control unit (1400) can directly provide a force to the user's body to push forward the support structure through the standing assistance means so that the user can stand up more easily in the standing assistance mode. In other words, the standing assistance means can apply a force to push the user's body, particularly the user's buttocks (e.g., the hip area), toward the front upper side of the massage device (1000) in the standing assistance mode so that the user can stand up more easily.

[0116] According to one embodiment of the present disclosure, the standing assistance means may include at least one of a seat plate (31), a seat lifting unit, and a massage module (100).

[0117] For example, the standing assistance means may be configured with a seat plate (31) and a seat lifting unit, and may provide the user with additional standing assistance force that increases the standing assistance force through the seat plate (31) and the seat lifting unit.

[0118] The seat plate (31) is placed on the upper side of the seat frame (30) to support the user's lower body (or buttocks).

[0119] For example, the seat plate (31) may be a structure having a three-dimensional shape corresponding to the buttocks of the user so that the buttocks (e.g., the hip area and the thigh area) of the user are supported and rested upon when the user sits on the second support portion (5200b) of the massage device (1000). The seat plate (31) may be arranged at the front portion of the seat frame (30) and may include a seat hinge axis (32) formed in a shape extending laterally. As illustrated in FIG. 9, the seat plate (31) may be rotatable in the front portion up and down (in the front-back direction of the massage device) around the seat hinge axis (32) by a seat lifting unit. For example, the seat plate (31) may be lifted by tilting in the upper direction (forward) of the seat plate (31) around the seat hinge axis (32). The seat plate (31) can be lowered by tilting downward (rearward) about the seat hinge axis (32) in a lifted state.

[0120] A seat lifting unit may be disposed between the seat frame (30) and the lower surface of the seat plate (31). The seat lifting unit may tilt (or rotate) the seat plate (31) in at least one direction among the upper direction and the lower direction of the seat plate (31).

[0121] For example, the seat lifting unit can tilt the seat plate (31) in the upward direction of the seat plate (31) to lift the seat plate (31) in the upward direction of the seat plate (31). The seat lifting unit can tilt the lifted seat plate (31) in the downward direction of the seat plate (31) to lower the seat plate (31) in the downward direction of the seat plate (31).

[0122] The seat lifting unit may be composed of a lifting airbag (or lifting air cell; 33). For example, the lifting airbag (33) may lift the seat plate (31) by pressing the seat plate (31) upwardly while inflating by the pressure of air supplied from the outside of the lifting airbag (33). The inflated lifting airbag (33) may lower the seat plate (31) downwardly while contracting as the air of the inflated lifting airbag (33) is discharged.

[0123] According to one embodiment of the present invention, when the tilting frame (20) rotates upward by the operation of the tilting actuator (60) in the standing assistance mode and the user's body (upper body) moves forward, the massage device (1000) expands as air is supplied to the lifting airbag (33) so that the seat plate (31) can rotate upward around the seat hinge axis (32) (or the seat plate (31) can be lifted upward around the seat hinge axis (32). In this case, the user's buttocks area is pushed forward and upward, thereby further increasing the standing assistance force, so that the user can easily stand up with less force.

[0124] As described above, the seat lifting unit may be a lifting airbag (33), but is not limited thereto. For example, the seat lifting unit may be implemented with various devices, such as at least one of a motor providing rotational force and an actuator that expands and contracts by the motor. When the seat lifting unit is implemented with a motor, the seat lifting unit is arranged on the seat hinge axis (32) and can lift or lower the seat plate (31) through the rotational force of the motor.

[0125] Through this, the massage device (1000) provides the user with additional standing assistance force that doubles the standing assistance force through the standing assistance means in the standing assistance mode, thereby enabling the user to stand up comfortably with less force than when the user stands up using the standing assistance force.

[0126] As another example, as illustrated in FIGS. 10 and 11, the standing assistance means, unlike the aforementioned standing assistance means, may be configured with a massage module (100) to provide the user with additional standing assistance force that increases the standing assistance force through the massage module (100). For example, the massage module (100) may include a sampler (110) and a moving part (120), as illustrated in FIG. 4.

[0127] The massage module (100) may be equipped with a plurality of massage heads (110) that are installed to vibrate and / or rotate back and forth and left and right on a motor (not shown), similar to a massage module configured in a conventional massage device (1000), to massage the user's back, buttocks, and thigh areas. The moving unit (120) may move the massage module (100) along a rack gear (90). The massage module (100) may be installed on the front surface of the moving unit (120).

[0128] When the massage mode is running, the massage module (100) can provide a massage to at least a part of the user's body through the sample (110) while moving along the support structure. The massage mode may be a mode that massages the user's body according to the user's input command.

[0129] When the standing assistance mode is executed, the massage module (100) can move to an area corresponding to the user's lower body among the entire area of ​​the support structure (or the entire area of ​​the rack gear (90)) and tilt in the forward direction of the massage module (100). Through this, the massage module (100) can provide the user with a force that pushes the user's body forward from the user's lower body, that is, the user's hip area.

[0130] For example, the control unit (1400) can move the massage module (100) to an area corresponding to the user's lower body. The control unit (1400) can keep the massage module (100) waiting at the corresponding position and control the tilting actuator (60) when the tilting frame (20) tilts in the forward direction (or upward direction) of the tilting frame (20) to tilt the massage module (100) in the forward direction of the massage module (100). At this time, the control unit (1400) can tilt (or move) the upper sample element (110) included in the massage module (100) in the forward direction of the massage module (100). Through this, the massage module (100) can provide the user with additional standing assistance force that increases the standing assistance force according to the tilting motion with respect to the support structure.

[0131] In other words, the massage module (100) can perform the function of massaging the user's body while moving along the rack gear (90), and can also perform the function of assisting the user in standing up in the standing assistance mode.

[0132] As another example, the standing assistance means may be composed of a massage module (100), a seat plate (31), and a seat lifting unit. If the standing assistance means is composed of a massage module (100), a seat plate (31), and a seat lifting unit, all of the above-described contents may be applied, and therefore, a detailed description thereof will be omitted.

[0133] That is, the standing assistance means can provide the user with additional standing assistance force to assist the user in standing by pushing (or pushing) the user's body through the massage module (100) and pushing the seat plate through the seat lifting unit.

[0134] Next, we will explain the reclining mechanism in detail.

[0135] According to one embodiment of the present invention, the seat frame (30) and the backrest frame (40) are installed on the tilting frame (20) so as to be angled up and down by a reclining means, thereby performing a reclining function. At this time, the reclining means is arranged at the lower part of the support structure to recline the support structure. The reclining means tilts (or rotates) the seat frame (30) and the backrest frame (40) with respect to the tilting frame (20), thereby varying the angles of the seat frame (30) and the backrest frame (40) with respect to the ground.

[0136] According to one embodiment of the present invention, the reclining means may include a reclining rail (72), a plurality of reclining rollers (73), and a reclining actuator (70).

[0137] The reclining rail (72) is formed in a curved shape that is curved up and down and can be installed on both sides of the seat frame (30) and / or the backrest frame (40).

[0138] A plurality of reclining rollers (73) can be installed at the front and rear of the upper part of the tilting frame (20) so as to be inserted into the reclining rail (72) and guide the reclining rail (72).

[0139] The reclining actuator (70) may include an operating rod (71). One end of the operating rod (71) may be hinged to the rear end of the tilting frame (20) and the other end may be hinged to the front end of the seat frame (30). The operating rod (71) may be extended and moved linearly by a motor.

[0140] As shown in FIGS. 4 to 8, the reclining actuator (70) may be an electric actuator in which the operating rod (71) is operated by a motor, but may also be a hydraulic actuator in which the operating rod (71) is extended by the pressure of a fluid supplied from a pneumatic supply device (not shown).

[0141] When the massage device (1000) is in a normal state (or initial posture; see Fig. 5) and the motor of the reclining actuator (70) operates to extend the operating rod (71), the reclining rail (72) moves forward under the guidance of the reclining roller (73) of the tilting frame (20), causing the seat frame (30) to rise while the backrest frame (40) to descend. Accordingly, the massage device (1000) is changed to a zero-gravity state (or reclining state) as shown in the left picture of Fig. 6, so that the user can lie down.

[0142] When the massage device (1000) is in a zero-gravity state and the motor of the reclining actuator (70) operates in the opposite direction to that described above so that the operating rod (71) contracts, the reclining rail (72) can move rearward under the guidance of the reclining roller (73) of the tilting frame (20), causing the seat frame (30) to descend while causing the backrest frame (40) to rise. Accordingly, the massage device (1000) can be changed to (or returned to) a normal state so that a user can sit down.

[0143] Referring to FIGS. 7 and 8, a leg frame (50) constituting a support structure of the leg massage unit (5200d) of FIG. 14 can be rotatably connected to the front end of the seat frame (30). The leg frame (50) is configured to support the user's calves and feet through a leg drive unit, and can be rotatably installed around a hinge axis (51) installed at the front end of the seat frame (30) at the upper end.

[0144] The leg drive unit can rotate the leg frame (50) around the hinge axis (51). The rear end of the leg drive unit can be hinged to the rear end of the seat frame (30) and the front end can be hinged to the leg frame (50). The leg drive unit can include a leg actuator (80) having an operating rod (81) that is reciprocally extended while being linearly moved by a motor.

[0145] Since the leg frame (50) is installed to be connected to the front end of the seat frame (30) and extended downward, when the tilting actuator (60) operates to rotate the front end of the seat frame (30) downward while the leg frame (50) is folded, there is a problem that the lower end of the leg frame (50) may be damaged by hitting the floor surface or the base frame (10) and / or a structure installed on the base frame (10), or vibration and noise due to the impact may occur.

[0146] In order to prevent the above-described problem, a hinge bracket (52) having a hinge axis (51) installed at the front end of the seat frame (30) is installed so as to be rotatable up and down about the bracket axis (53), so that when the tilting frame (20) rotates upward about the tilting axis (21) and the lower end of the leg frame (50) touches the floor surface and / or the base frame (10), the hinge bracket (52) rotates upward at a certain angle about the bracket axis (53) to prevent the occurrence of an impact.

[0147] Fig. 12 is a block diagram showing an example of a massage device according to the present invention.

[0148] More specifically, the above-described FIG. 2 is a drawing exemplarily showing a massage device (1000) and sub-modules that exchange information with the control unit (1400) through wired / wireless communication, and FIG. 12 is a drawing exemplarily showing a massage unit (5200) that provides a physical massage directly to a user in the massage device (1000) and sub-massage modules included in the massage unit (5200). The massage unit (5200) of FIG. 12 may be a concept encompassing the body massage unit, arm massage unit, leg massage unit, etc. described above.

[0149] Referring to FIG. 12, a massage device (1000) according to the present invention may include a control unit (1400) and a massage unit (5200), and the massage unit (5200) may include a first support unit (5200a), a second support unit (5200b), an arm massage unit (5200c), and a leg massage unit (5200d).

[0150] The control unit (1400) can control the operation of the massage unit (5200) and the first support unit (5200a), the second support unit (5200b), the arm massage unit (5200c), and the leg massage unit (5200d) included in the massage unit (5200).

[0151] The massage unit (5200) supports the user's body and can massage at least a part of the user's body.

[0152] The first support unit (5200a) can support the user's upper body and massage the user's upper body based on a command received from the control unit (1400). The massaged area by the first support unit (5200a) can be at least one of the user's neck, the user's back, and the user's waist.

[0153] The second support unit (5200b) can support the user's lower body and massage the user's lower body based on a command received from the control unit (1400). The massaged area by the second support unit (5200b) can be at least one of the user's upper buttocks, the user's lower buttocks, the user's perineum, and the user's thighs.

[0154] The arm massage unit (5200c) includes an internal space into which at least a part of the user's arm can be inserted, and can massage at least a part of the user's arm included in the internal space based on receiving a command from the control unit (1400).

[0155] The leg massage unit (5200d) includes an internal space into which at least a part of the user's leg can be inserted, and can massage at least a part of the user's leg included in the internal space based on receiving a command from the control unit (1400).

[0156] The massage unit (5200), the first support unit (5200a), the second support unit (5200b), the arm massage unit (5200c), and the leg massage unit (5200d) each include a massage module for massaging the user's body in various ways. The massage module receives a massage initiation signal from the control unit (1400) and moves at a frequency that matches a preset massage mode, thereby providing the user with various types of massage, such as kneading, tapping, and acupressure.

[0157] In addition, the massage unit (5200), the first support unit (5200a), the second support unit (5200b), the arm massage unit (5200c), and the leg massage unit (5200d) each include an air cell for fixing and massaging the user's massaged area. When the air cell receives a pressure injection signal for the air cell from the control unit (1400), the air cell firmly fixes the user's massaged area with inflated air pressure, thereby maximizing the massage effect through the massage module.

[0158] Hereinafter, various embodiments of a massage device (1000) according to the present invention will be sequentially described. The 'user's intention' and the 'state corresponding to the user's intention' in each embodiment described below will be described in accordance with each embodiment through FIGS. 13 to 19.

[0159] As one embodiment, a massage device (1000) includes a massage unit (5200) that supports a user's body and massages at least a part of the user's body, and a control unit (1400) that controls the massage unit (5200). The control unit (1400) can obtain the user's intention and / or the state of the massage unit (5200), and control the massage unit (5200) based on the user's intention and / or the state of the massage unit (5200) so that the state of the massage unit (5200) corresponds to the user's intention.

[0160] As an example, the control unit (1400) of the massage device (1000) controls the massage unit (5200) based on whether the state of the massage unit (5200) corresponds to the user's intention. If the state of the massage unit (5200) corresponds to the user's intention, the control unit (1400) can control the state of the massage unit (5200) to be maintained, and if the state of the massage unit (5200) does not correspond to the user's intention, the control unit (1400) can control the state of the massage unit (5200) to be changed to the state corresponding to the user's intention.

[0161] As an example, the control unit (1400) of the massage device (1000) can determine any one of the plurality of arbitrary states as a state corresponding to the user's intention based on a plurality of preset arbitrary states and an arbitrary intention matched to each arbitrary state, and can determine whether the state of the massage device (1000) corresponds to the user's intention based on the determination result.

[0162] As one embodiment, the massage unit (5200) of the massage device (1000) includes a first support unit (5200a) that supports the user's upper body and a second support unit (5200b) that supports the user's lower body, and the state of the massage unit (5200) is determined based on at least one of a first angle of the first support unit (5200a) and a second angle of the second support unit (5200b), and the control unit (1400) can control the massage unit (5200) to change or maintain at least one of the first angle and the second angle based on whether the state of the massage unit (5200) corresponds to the user's intention.

[0163] As an example, the control unit (1400) of the massage device (1000) may determine any one of the plurality of arbitrary states as a state corresponding to the user's intention based on a plurality of preset arbitrary states and an arbitrary intention matched to each of the arbitrary states, and may determine whether the state of the massage unit (5200) corresponds to the user's intention based on an arbitrary angle matched to any one of the arbitrary states.

[0164] As an example, the control unit (1400) of the massage device (1000) can control the state of the massage unit (5200) to be changed to a state corresponding to the user's intention by changing the first angle and the second angle based on any angle matching any one of the states, when the state of the massage unit (5200) is not a state corresponding to the user's intention.

[0165] As an example, the control unit (1400) of the massage device (1000) can control the state of the massage unit (5200) to be changed to a first standing state when the user's intention is to rest on the massage device (1000) or to operate at least one of the massage device and any device, and the state of the massage unit (5200) is not a state corresponding to the user's intention.

[0166] As an example, the control unit (1400) of the massage device (1000) can control the state of the massage unit (5200) to be changed to a second standing state when the user's intention is to board the massage device (1000) and the state of the massage unit (5200) does not correspond to the user's intention.

[0167] As an example, the control unit (1400) of the massage device (1000) can control the state of the massage unit (5200) to be changed to one of the first standing, second standing, third standing, reclining, and normal states corresponding to the user's intention when the user's intention is to rest and the state of the massage unit (5200) is not a state corresponding to the user's intention.

[0168] As an example, the control unit (1400) of the massage device (1000) can control the state of the massage unit (5200) to be changed to one of the first standing, second standing, third standing, reclining, and normal states corresponding to the user's intention, based on the setting value input by the user.

[0169] As an example, the control unit (1400) of the massage device (1000) can control the user to change the state of the massage device (5200) to a third standing state corresponding to the user's intention when the user's intention is to leave the massage device (1000) and the state of the massage device (5200) is not a state corresponding to the user's intention.

[0170] As an example, the control unit (1400) of the massage device (1000) can control the state of the massage unit (5200) to be changed to a normal angle state when the user's intention is no longer detected.

[0171] As an example, the control unit (1400) of the massage device (1000) can obtain the user's intention based on at least one of a sensing value detected by a sensor of the massage device (1000) and a user's input transmitted from an input unit of the massage device. As an example, the sensor of the massage device (1000) can be at least one of a voice sensor that detects the user's voice, an object detection sensor that detects the user or whether the user is close to the massage device, a LiDAR sensor that detects the distance between the user and the massage device, a touch sensor that detects the user's touch, an IR sensor that detects a change in nearby infrared rays due to the user, a seating sensor that is installed on the second support unit (5200b) and detects the user's sitting, and an input unit of a remote control of the massage device (1000).

[0172] As an example, the control unit of the massage device (1000) may control the state of the massage unit to a state corresponding to the user's intention based on at least one of a sensing value of a sensor of the massage device and a user's input. At this time, the state corresponding to the user's intention may include at least one of a first state corresponding to a first intention in which the user wishes to leave the massage device, a second state corresponding to a second intention in which the user wishes to board the massage device, a third state corresponding to a third intention in which the user wishes to rest or operate an arbitrary device in the massage device, and a fourth state corresponding to a fourth intention in which the user wishes to receive a massage in the massage device.

[0173] Fig. 13 is a drawing for schematically explaining the various standing states of the massage unit of Fig. 12 and the relative positions of the sub-modules included in the massage unit.

[0174] Figure 13 illustrates a left side view and a left side block diagram of a massage device (1000) according to the present invention, respectively.

[0175] First, referring to the left side view of the massage device (1000) of FIG. 13, the massage device (1000) according to the present invention can be classified into various angles of the massage device (1000) (or angle of the massage unit (5200)), which is an angle between the support surface (or installation surface, ground, etc.) on which the massage device (1000) is placed and the massage device (1000; or massage unit (5200)). For example, the massage device (1000) can be classified into various states, such as a general angle (5000a) state, a first standing (5000b) state, a second standing (5000c) state, and a third standing (5000d) state, based on the angle formed by a point on the ground directly in front of the massage device (1000) and the highest point of the massage device (1000), as shown in FIG. 13. The first standing (5000b) state, the second standing (5000c) state, and the third standing (5000d) state will be described later in Fig. 14.

[0176] Next, the left side block diagram of the massage device (1000) of FIG. 13 refers to a schematic diagram that intuitively represents the results of observing the massage device (1000) from the left side of the massage device (1000) through a combination of blocks. In the left side block diagram of the massage unit (5200) of FIG. 13, the first support unit (5200a) is formed to be able to support the user's upper body, particularly, the user's back or waist, and the second support unit (5200b) is formed to be able to support the user's lower body, including the user's hips, while being in contact with the first support unit (5200a). In addition, the arm massage part (5200c) is installed higher than the second support part (5200b) so that it can include (or support) at least a part of the user's arm, and the leg massage part (5200d) is connected to the second support part (5200b) so that it can include (or support) at least a part of the user's leg.

[0177] The first support part (5200a), the second support part (5200b), the arm massage part (5200c), and the leg massage part (5200d) of the massage device (1000) of FIG. 13 may include an actuator that receives a control signal from the control part (1400) to allow the arm massage part (5200c) and the leg massage part (5200d) to rotate. As an example, the first support part (5200a) may include an angle actuator that adjusts the angle of a portion where the user's back comes into contact with the first support part (5200a), and the second support part (5200b) may include a hip angle actuator that adjusts the angle of a portion where the user's buttocks comes into contact with the second support part (5200b). As another example, the arm massage unit (5200c) may include an arm massage unit actuator that changes the position or angle of the arm massage unit (5200c), and the leg massage unit (5200d) may include a leg massage unit actuator that changes the position or angle of the leg massage unit (5200d).

[0178] The arm massage actuator and the leg massage actuator receive the control signal generated by the control unit (1400) and adjust the position or angle of the arm massage unit (5200c) and the leg massage unit (5200d) according to the control command defined in the control signal, thereby inducing the user to easily board the massage device (1000), inducing the user to easily get off the massage device (1000), or increasing the effect of the massage provided to the user by the massage device (1000). The change in the position or angle of the first support unit (5200a), the second support unit (5200b), the arm massage unit (5200c), and the leg massage unit (5200d) by the actuator will be described later with reference to FIGS. 6 to 17.

[0179] The arm massage unit (5200C) may include a first arm massage unit for massaging one arm of the user, and a second arm massage unit for massaging the other arm of the user.

[0180] The first and second arm massage units may operate relatively, individually, independently, in conjunction, and / or in a semi-interlocked manner. For example, the first and second arm massage units may operate relatively, individually, independently, in conjunction, and / or in a semi-interlocked manner, such that the length and / or angle of the first and second arm massage units may be adjusted. At this time, the length of each arm massage unit refers to the length from one end of each arm massage unit to the other end, that is, the length from the frontmost end of each arm massage unit to the rearmost end. The angle of each arm massage unit may refer to the angle between at least one of the first and second support units (5200b), the support surface (or installation surface, the ground, etc.) of the massage device (1000), and each arm massage unit.

[0181] As described above, each arm massage part can be moved forward and backward in the longitudinal direction of each arm massage part to adjust the length of each arm massage part, and each arm massage part can be rotated (or tilted) in the up and down direction to adjust the angle of each arm massage part.

[0182] For example, the massage device (1000) may include an arm length adjustment unit that moves at least one arm massage unit among the first and second arm massage units back and forth in the longitudinal direction of the at least one arm massage unit, and may include an arm angle adjustment unit that rotates (or tilts) at least one arm massage unit among the first and second arm massage units in the up-and-down direction of the at least one arm massage unit.

[0183] Specifically, the arm length adjustment unit may include, but is not limited to, a first arm length adjustment unit that moves the first arm massage unit back and forth to adjust the length of the first arm massage unit, and a second arm length adjustment unit that moves the second arm massage unit back and forth to adjust the length of the second arm massage unit. For example, the arm length adjustment unit may be formed as a single adjustment unit, and may independently, individually, relatively move the first and second arm massage units, or move them in a linked and / or semi-linked manner, to adjust the length of each arm massage unit. At this time, the arm length adjustment unit may operate based on the control of the control unit of the massage device.

[0184] The arm angle adjustment unit may include, but is not limited to, a first arm angle adjustment unit that adjusts the angle of the first arm massage unit by rotating the first arm massage unit up and down, and a second arm angle adjustment unit that adjusts the angle of the second arm massage unit by rotating the second arm massage unit up and down. For example, the arm angle adjustment unit may be formed as a single adjustment unit, and the first and second arm massage units may be moved independently and individually or rotated relative to each other and in conjunction with each other to adjust the angle of each arm massage unit. At this time, the arm angle adjustment unit may operate based on the control of the control unit of the massage device.

[0185] The leg massage unit (5200d) may include a first leg massage unit for massaging one leg of the user, and a second leg massage unit for massaging the other leg of the user.

[0186] The first and second leg massage units may operate relatively, individually, independently, in conjunction, and / or in a semi-interlocked manner. For example, the first and second leg massage units may operate relatively, individually, independently, in conjunction, and / or in a semi-interlocked manner, such that the length and / or angle of the first and second leg massage units may be adjusted. In this case, the length of each leg massage unit refers to the length from one end of each leg massage unit to the other end, that is, the length from the top end of each leg massage unit to the bottom end. The angle of each leg massage unit may refer to the angle between at least one of the first and second support units (5200b), the support surface of the massage device (1000), and each leg massage unit.

[0187] As described above, each leg massage part can be adjusted in length by moving up and down in the longitudinal direction of each leg massage part, and the angle of each leg massage part can be adjusted by rotating (or tilting) in the forward and backward direction of each leg massage part.

[0188] For example, the massage device (1000) may include a leg length adjustment unit that moves at least one of the first and second leg massage units up and down in the longitudinal direction of at least one of the leg massage units, and may include a leg angle adjustment unit that rotates (or tilts) at least one of the first and second leg massage units in the forward and backward direction of at least one of the leg massage units.

[0189] Specifically, the leg length adjustment unit may include, but is not limited to, a first leg length adjustment unit that moves the first leg massage unit up and down to adjust the length of the first leg massage unit, and a second leg length adjustment unit that moves the second leg massage unit up and down to adjust the length of the second leg massage unit. For example, the leg length adjustment unit may be formed as a single adjustment unit, and may independently, individually, relatively move the first and second leg massage units, or move them in a linked and / or semi-linked manner, to adjust the length of each leg massage unit. At this time, the leg length adjustment unit may operate based on the control of the control unit of the massage device.

[0190] The leg angle adjustment unit may include, but is not limited to, a first leg angle adjustment unit that adjusts the angle of the first leg massage unit by rotating the first leg massage unit back and forth, and a second leg angle adjustment unit that adjusts the angle of the second leg massage unit by moving the second leg massage unit up and down. For example, the leg angle adjustment unit may be formed as a single adjustment unit, and the first and second leg massage units may be moved independently and individually or rotated relative to each other and in conjunction with each other to adjust the angle of each leg massage unit. At this time, the leg angle adjustment unit may operate based on the control of the control unit of the massage device.

[0191] Figure 14 is a drawing for comparing and explaining various standing states.

[0192] In Fig. 14, the first standing (5000b) state may be such that the angle formed by the highest point of the massage device (1000) and the massage device (1000), which is the angle of the massage device (1000), may be a first reference angle θ1. In addition, in Fig. 14, the second standing (5000c) state may be such that the angle formed by the highest point of the massage device (1000) and the massage device (1000), which is the angle of the massage device (1000), may be a second reference angle θ2. In addition, in Fig. 14, the third standing (5000d) state may be such that the angle formed by the highest point of the massage device (1000) and the massage device (1000), which is the angle of the massage device (1000), may be a third reference angle θ3. In Fig. 14, the first reference angle θ1 may be the smallest angle smaller than the second reference angle θ2 and the third reference angle θ3, the second reference angle θ2 may be an angle between the first reference angle θ1 and the third reference angle θ3, and the third reference angle θ3 may be the largest angle larger than the first reference angle θ1 and the second reference angle θ2. The general angle may be an angle smaller than the first to third reference angles, and the zero-gravity angle, which is an angle of the massage device in a zero-gravity state, may be an angle smaller than the general angle.

[0193] In Fig. 14, the first reference angle to the third reference angle are used for intuitive explanation, but the massage device (1000) according to the present invention can change its appearance to the general angle (5000a) described in Fig. 13 as well as the first standing (5000b), second standing (5000c), and third standing (5000d) as the positions or angles of the first support part (5200a), second support part (5200b), arm massage part (5200c), and leg massage part (5200d) that receive the signal from the control part (1400) are changed.

[0194] Hereinafter, conditions for changing the massage device (1000) according to the present invention into one of the several standing states described in FIG. 14 will be exemplarily described, and with reference to FIG. 13, the following will be described in the order of general angle (5000a), second standing (5000c), first standing (5000a), and third standing (5000d).

[0195] The normal angle (5000a) state may refer to a state of the massage device (1000) that is applied as a default when the massage device (1000) is not in use, and / or a state of the massage device (1000) in which the user is riding (or sitting) on ​​the massage device (1000) but can easily receive a massage by leaning on the first and second support members (5200a, 5200b). At this time, the state of the massage device (1000) may refer to various states of the massage device (1000), such as the posture, angle, on / off state, operation state, whether or not a massage operation is performed, and the state of each component included in the massage device (1000).

[0196] For example, the normal angle (5000a) state is the same as the normal state described in Fig. 6. The normal angle (5000a) state is the most stable form in terms of interior or design, and may refer to a state that the massage device (1000) can maintain while waiting for the user's boarding signal. The normal angle (5000a) state may refer to a state in which the user is riding on a reclining chair tilted backwards at a certain angle to receive a massage in that position, rather than in a position in which the user is lying on a bed, as in a zero-gravity state.

[0197] In other words, the general angle (5000a) state may mean a state of the massage device (1000) corresponding to at least one of a state in which the massage device (1000) is in standby before the user uses the massage device (1000), and / or a state in which the user can easily receive a massage by boarding the massage device (1000), and may mean a state of the massage device (1000) corresponding to at least one of a massage device initial state, a massage device standby state, a massage provision state, and a massage operation state.

[0198] The angle of the massage device (1000) in the normal angle (5000a) state is the normal angle, and the normal angle (5000a) state may mean a state in which the angle of the massage device (1000) is adjusted to the normal angle. At this time, the normal angle may be an angle that implements a posture that is easy to receive a massage in a familiar and comfortable posture as if the user is sitting in a reclining chair used in daily life so that the user can easily receive a massage by getting on the massage device (1000), and may be an angle that provides high satisfaction to the user. The reclining chair may have a state in which the front of the seating part is raised and the backrest part is tilted backward compared to a normal chair.

[0199] The general angle (5000a) is an angle smaller than the first reference angle or the third reference angle, and may be an angle larger than the angle in a zero-gravity state.

[0200] For example, the general angle may include at least one general angle among the general angle of the first support (5200a) and the general angle of the second support (5200b). In this case, the angle of each support may be the angle between the installation surface of the massage device (1000) and each support.

[0201] When the first and second support members (5200a, 5200b) are in a weightless state (or reclining state), the first support member (5200a) may be tilted toward the rear of the first support member (5200a), and the second support member (5200b) may be tilted diagonally downward from the front end to the rear end. The weightless angle of each support member in a weightless state may mean the smallest angle, which is smaller than the general angle and the first to third reference angles.

[0202] When the first support member (5200a) is in a normal angle (5000a) state, the first support member (5200a) may be tilted backwards, but may be tilted less backwards than in a zero-gravity state.

[0203] When the second support member (5200b) is in a normal angle (5000a) state, the second support member (5200a) is tilted by lowering diagonally from the front end to the rear end, but the tilt (or angle) between the front and rear ends of the second support member (5200b) may be lowered by lowering diagonally less than when in a zero-gravity state.

[0204] In other words, the general angle of each support may be smaller than the first to third reference angles of each support and larger than the zero-gravity angle, as shown in FIG. 13.

[0205] That is, the massage device (1000) can be adjusted to an initial state in which the massage device (1000) is easy to maintain in a standby state, and / or a normal angle state in which the user is easy to receive a massage.

[0206] Through this, the user can quickly and easily change the state of the massage device (1000) in order to get on or off the massage device (1000), use an electronic device after sitting on it, rest on the massage device (1000), or receive a massage from the massage device (1000), and the center of gravity of the user who has boarded (or sat on) the massage device (1000) is tilted significantly toward the rear of the user and is settled (or supported) in close contact with each support member, so that the massage module comes into closer contact with the user than in the first to third standing states, and comes into less close contact than in the zero-gravity state, so that the user can receive a massage more comfortably from the massage device (1000).

[0207] The second standing (5000c) state may be a state in which the massage device (1000) recognizes the user's riding situation with respect to the massage device (1000) and is adjusted to a second reference angle. Here, the massage device (1000) recognizing the user's riding situation means that the massage device (1000) has recognized the user's intention to use the massage device (1000) through various sensors installed in the massage device (1000) and / or various sensors capable of communicating with the massage device (1000). For example, when the user approaches the massage device (1000) within a certain distance or the user actively inputs a predetermined input to the remote control of the massage device (1000), the massage device (1000) may recognize that the user has an intention to ride and change to the second standing (5000c) state, but is not limited thereto.

[0208] For example, the massage device (1000) may recognize that a user is approaching the massage device (1000) through the various sensors described above, recognize the user's intention to change the state of the massage device (1000) to a second standing state, or adjust the angle of the massage device (1000) to a second reference angle based on an input that a user is approaching the massage device (1000), an input that a user is getting on the massage device (1000), and / or an input to change the state of the massage device (1000) to a second standing state through various sensors, electronic devices, and / or an input unit (or remote control) of the massage device (1000). In other words, when an input signal corresponding to the user's intention to board the massage device (1000) and / or the user's intention to switch (or change) the state of the massage device (1000) to the second standing state is received or the user's intention is recognized through each sensor, the massage device (1000) can adjust the state of the massage device (1000) to the second standing state.

[0209] For example, when a sensor of a massage device (1000) recognizes a user approaching the massage device (1000) or a sensor capable of communicating with the massage device (1000) recognizes a user approaching the massage device (1000) and transmits a sensing signal to the massage device (1000) notifying the massage device (1000) of the user's approach, the massage device (1000) can operate to control (or maintain, change) the angle of the massage device (1000) to a second reference angle so that the state of the massage device (1000) becomes a second standing (5000c) state.

[0210] As another example, when a user transmits and / or inputs a command to the massage device (1000) to maintain and / or change the massage device (1000) to the second standing (5000c) state through the input unit of the massage device (1000) and / or the user's electronic device (or a control device that controls the massage device), the massage device (1000) can operate to control (or maintain, change) the angle of the massage device (1000) to the second reference angle so that the state of the massage device (1000) becomes the second standing (5000c) state.

[0211] The second standing (5000c) state is a state of the massage device (1000) in which it is easy for a user to sit (or board) the second support member (5200b) of the massage device (1000), and may mean a state of the massage device (1000) corresponding to at least one of a boarding assistance state, a boarding guidance state, a boarding easy state, and a chair state.

[0212] The angle of the massage device (1000) in the second standing (5000c) state is the second reference angle, and the second standing (5000c) state may mean a state in which the angle of the massage device (1000) is adjusted to the second reference angle, as described above. At this time, the second reference angle may be an angle that implements a familiar and comfortable posture as if the user is trying to sit on a regular chair used in daily life so that the user can easily get on the massage device (1000), and may be an angle that provides high satisfaction to the user.

[0213] The second reference angle may be an angle greater than the zero gravity angle, the normal angle (5000a), and the first reference angle, but less than the third reference angle.

[0214] For example, the second reference angle may include at least one of the second reference angle of the first support (5200a) and the second reference angle of the second support (5200b).

[0215] When the first support member (5200a) is in the second standing (5000c) state, the first support member (5200a) may be tilted backwards relative to the first support member (5200a), but may be tilted less backwards than in the zero-gravity state, the normal angle (5000a) state, and the first standing (5000b) state, and may be tilted more backwards than in the third standing (5000d) state.

[0216] When the second support member (5200b) is in the second standing (5000c) state, the second support member (5200b) may be in a state where the front and rear ends of the second support member (5200b) are parallel and not tilted, and there is no or almost no height difference between the front and rear ends, but this is not limited thereto.

[0217] For example, the second support member (5200b) may be inclined by lowering diagonally from the front end to the rear end, but may be inclined by lowering diagonally less than in the zero-gravity state, the normal angle state (5000a), and the first standing state (5000b), and may be inclined by lowering diagonally more than in the third standing state (5000d).

[0218] As another example, the second support (5200b) may be inclined by rising diagonally from the front end to the rear end, but may be inclined by rising diagonally less than the third standing (5000d).

[0219] In other words, the second reference angle of each support may be an angle greater than the zero gravity angle, the normal angle (5000a), and the first reference angle of each support, and less than the third reference angle, as illustrated in FIG. 13.

[0220] That is, the massage device (1000) can be adjusted to a second standing state in which a user can easily board the massage device (1000) and / or a user boarding the massage device (1000) can easily adjust the body position.

[0221] Through this, the user can easily board (or sit) on the massage device (1000) and easily change the posture after boarding, as the force required to board the massage device (1000) at the second reference angle and the force required to adjust the position of the user's body to the optimal position (or preferred position) preferred by the user in the massage device after boarding are less than in the massage devices (1000) at the zero gravity angle, the normal angle, the first and third reference angles. When the user recognizes that the massage device (1000) has completed seating on the second support member (5200b) in the second standing (5000c) state, or through an intention and / or input that the user has completed seating, or an intention and / or input that the user intends to use the massage device (1000), the massage device (1000) is configured to be in at least one of the normal angle (5000a) state, the first standing (5000b) state, the third standing (5000d), and the zero gravity state in the second standing (5000c) state. It can operate (or be controlled, changed) in various states such as one. At this time, the massage device (1000) can definitively recognize that the user has completed boarding and / or sitting on the massage device (1000) by a seating sensor positioned adjacent to the second support member (5200b) and / or a sensor capable of communicating with the massage device (1000).

[0222] The first standing (5000b) state may be a state in which the massage device (1000) recognizes or has recognized the user's seated state through a seating sensor installed in the second support member (5200b), and then additionally recognizes the user's intention to use the massage device (1000), and is adjusted to the first reference angle.

[0223] For example, the massage device (1000) may recognize that the user has sat on the massage device (1000) through the various sensors described above, recognize the user's intention to change the state of the massage device (1000) to the first standing state, or adjust the angle of the massage device (1000) to the first reference angle based on an input indicating that the user has completed sitting through various sensors, electronic devices, and / or an input unit (or remote control) of the massage device (1000), and / or an input indicating that the state of the massage device (1000) is changed to the first standing state. In other words, the massage device (1000) may adjust the state of the massage device (1000) to the first standing state when an input signal corresponding to the user's intention to have completed boarding the massage device (1000) and / or the user's intention to change (or change) the state of the massage device (1000) to the first standing state is received or recognize the user's intention through each sensor.

[0224] The first standing (5000b) state is a state of the massage device (1000) in which a user can easily use (or operate) electronic devices (e.g., an input unit of the massage device (1000), a user device (mobile, etc.), etc.), books, home appliances, etc., by riding the massage device (1000), and can easily rest on the massage device (1000), and may mean a state of the massage device (1000) corresponding to at least one of a rest assistance state, a rest induction state, an electronic device use ease state, and a reclining chair state.

[0225] The angle of the massage device (1000) in the first standing (5000b) state is a first reference angle, and the first standing (5000b) state may mean a state in which the angle of the massage device (1000) is adjusted to the first reference angle as described above. At this time, the first reference angle may be an angle that implements a familiar and comfortable posture as if the user is sitting in a chair that is between a general chair and a reclining chair used in daily life so that the user can easily use electronic devices and rest while riding the massage device (1000), and / or an angle that provides a good posture for watching TV or operating a smartphone while feeling comfortable as if the user is leaning against the chair, and may be an angle that provides high satisfaction to the user.

[0226] The first reference angle may be an angle greater than the zero gravity angle and the normal angle (5000a), and smaller than the second and third reference angles.

[0227] For example, the first reference angle may include at least one of the first reference angle of the first support member (5200a) and the first reference angle of the second support member (5200b).

[0228] When the first support member (5200a) is in the first standing (5000b) state, the first support member (5200a) may be tilted backwards, but may be tilted less backwards than when in the zero-gravity state and normal angle (5000a) state, and may be tilted more backwards than when in the second and third standing (5000d) states.

[0229] When the second support member (5200b) is in the first standing (5000b) state, the second support member (5200b) may be inclined by lowering diagonally from the front end to the rear end, but may be inclined by lowering diagonally less than when in a zero-gravity state or a normal angle (5000a) state, and may be inclined by lowering diagonally more than when in the second and third standing (5000d) states.

[0230] In other words, the first reference angle of each support may be an angle greater than the zero gravity angle and normal angle (5000a) of each support, as shown in Fig. 13, and smaller than the second and third reference angles.

[0231] That is, the massage device (1000) can be adjusted to a first standing state in which the user can easily use electronic devices such as a smartphone, a remote control (or input unit) of the massage device (1000), easily watch TV, etc., easily read books, etc., and / or a state in which the user can easily rest on the massage device (1000).

[0232] Through this, the user needs less force to watch TV, use electronic devices, and rest on the massage device (1000) at the first reference angle than on the massage device (1000) at the zero gravity angle, normal angle, second and third reference angles, thereby increasing the convenience of operating electronic devices such as the remote control of the massage device (1000) on the massage device (1000) at the first standing (5000b) position, and increasing the convenience of reading books and / or watching TV, thereby allowing the user to easily rest on the massage device (1000).

[0233] The user can receive a massage in a recliner state like the zero-gravity state of FIG. 6 by adjusting the massage device (1000) to a zero-gravity angle through a predetermined input in the first standing (5000b) state, or can receive a massage in the normal angle state of FIG. 13 by adjusting the massage device (1000) to a normal angle.

[0234] The massage device (1000) can recognize the user's body shape before providing a massage to the user, measure the leg length, and then optimize the massage unit (5200) to fit the user's body size before providing the massage.

[0235] The third standing state (5000d) may be a state in which the massage device (1000) has provided a massage to the user or the user has stopped the operation of the massage device (1000) through an arbitrary input, and the user's intention to leave the massage device (1000) is additionally recognized, and the massage device may be adjusted to a third reference angle.

[0236] For example, the massage device (1000) may adjust the angle of the massage device (1000) to the third reference angle based on the user's intention to leave the massage device (1000) through the various sensors described above, the user's intention to change the state of the massage device (1000) to the third standing state, or an input indicating that the massage is complete through various sensors, electronic devices, and / or an input unit (or remote control) of the massage device (1000), and / or an input to change the state of the massage device (1000) to the third standing state. In other words, the massage device (1000) may adjust the state of the massage device (1000) to the third standing state when an input signal corresponding to the user's intention to leave the massage device (1000) and / or the user's intention to change (or change) the state of the massage device (1000) to the third standing state is received or when the user's intention is recognized through each sensor.

[0237] The third standing (5000d) state is a state of the massage device (1000) in which a user riding the massage device (1000) can easily get off (or get off) from the massage device (1000), and may mean a state of the massage device (1000) corresponding to at least one of a getting off assistance state (or standing assistance state), a getting off induction state (or standing induction state), an easy getting off state (or easy standing state), and a standing chair state.

[0238] The angle of the massage device (1000) in the third standing (5000d) state is the third reference angle, and the third standing (5000d) state may mean a state in which the angle of the massage device (1000) is adjusted to the third reference angle as described above. At this time, the third reference angle may be an angle that implements a posture that allows the user to easily get off (or stand up) from a regular chair used in daily life by switching postures to a standing chair in which the rear end of the regular chair is positioned higher than the front end so that the user can get off the massage device (1000) very easily, and may be an angle that provides high satisfaction to the user.

[0239] The third reference angle may be a greater angle than the zero gravity angle, the normal angle (5000a), or the first and second reference angles.

[0240] For example, the third reference angle may include at least one of the third reference angle of the first support (5200a) and the third reference angle of the second support (5200b).

[0241] When the first support part (5200a) is in the third standing (5000d) state, the first support part (5200a) may be tilted forward of the first support part (5200a) or backward, but may be tilted less backward than in the zero-gravity state, the normal angle (5000a) state, or the first and second standing states, but is not limited thereto. For example, when the first support part (5200a) is in the third standing (5000d) state, the first support part (5200a) may not be tilted forward or backward of the first support part (5200a), and a straight line crossing the top to the bottom of the first support part (5200a) with respect to the support surface of the massage device (1000) may be vertical.

[0242] When the second support member (5200b) is in the third standing (5000d) state, the second support member (5200b) may be tilted by rising diagonally from the front end to the rear end.

[0243] In other words, the third reference angle of each support may be an angle greater than the zero gravity angle, the normal angle (5000a), and the first and second reference angles of each support, as illustrated in FIG. 13.

[0244] That is, the massage device (1000) can be adjusted to a third standing state in which the user can easily get off the massage device (1000).

[0245] Through this, the user can easily detach from the massage device (1000) by requiring less force to detach from the massage device (1000) at the third reference angle than from the massage device (1000) at the zero gravity angle, normal angle, first and second reference angles.

[0246] In other words, since the reference angle in the third standing (5000d) state is the largest compared to other reference angles, it may be much easier for the user to leave the massage device (1000) in the third standing (5000d) state compared to other standing states. When the user moves sufficiently away from the massage device (1000) in the third standing state (5000d), the massage device (1000) may return to the aforementioned general angle (5000a) state. The third reference angle may be an angle at which the center of gravity of the massage device (1000) is tilted forward, so that the user can quickly and easily leave the massage device (1000), but is not limited thereto. For example, if the user sets the third standing state to be an angle at which it is easy to board, the third reference angle may be an angle at which it is easy for the user to board the massage device (1000) and, at the same time, an angle at which it is easy to leave the massage device (1000).

[0247] FIGS. 15 to 20 are drawings for explaining an embodiment in which a massage device according to the present invention changes a massage state to a state corresponding to the user's intention by taking into consideration the user's intention and the state of the massage device.

[0248] Below, the explanation will be given with reference to Fig. 12.

[0249] In FIG. 15, the control unit (1400) of the massage device (1000) can control (or adjust, change, switch, etc.) the state of the massage device (1000) (or the state of the massage unit) to at least one of a zero-gravity state, a normal angle state, and a first to third standing state.

[0250] For example, the control unit (1400) may control the state of the massage device (1000) (or the state of the massage unit) to a state corresponding to the user's intention based on at least one of a sensing value of a sensor of the massage device (1000) and a user's input. At this time, the state corresponding to the user's intention may include at least one of a first state (or a third standing state) corresponding to a first intention in which the user wishes to leave the massage device (1000), a second state (a second standing state) corresponding to a second intention in which the user wishes to board the massage device (1000), a third state (or a first standing state) corresponding to a third intention in which the user wishes to rest on the massage device (1000) or operate at least one of the massage device (1000) and any device, and a fourth state (or a normal angle state, a zero-gravity state) corresponding to a fourth intention in which the user wishes to receive a massage from the massage device (1000).

[0251] Specifically, the control unit (1400) can control the state of the massage device (1000) based on at least one of the input unit (or remote control) of the massage device (1000), the control device (or external device, external electronic device, etc.) for controlling the massage device, and at least one of the sensing signals transmitted from various sensors. At this time, the control unit (1400) can obtain (or recognize, grasp, judge, determine) the user's intention based on the sensing signal and / or the input signal, compare the current state of the massage device (1000) with the state corresponding to the user's intention, and if they are the same, maintain the state of the massage device (1000), and if they are different, control the state of the massage device (1000) to the state corresponding to the user's intention.

[0252] After the control unit (1400) obtains the user's intention and the status of the massage unit (5200) (S1510), if the user's intention is to board (or use) the massage device (1000) and the status of the massage unit (5200) is not the second standing (5000c) status corresponding to the user's intention (S1530), the control unit (1400) can control the status of the massage unit (5200) to become the second standing (5000c) status corresponding to the user's intention (or the intention to board) (S1550). If the status of the massage unit (5200) was the second standing (5200c) status from the beginning, the control unit (1400) can control the current status of the massage unit (5200) to be maintained.

[0253] For example, the control unit (1400) can control the state of the massage device (1000) to a second standing state based on a sensing signal indicating the proximity of a user transmitted from a sensor.

[0254] For example, the sensor may recognize that the user has approached the massage device (1000) within a preset threshold distance through a voice sensor, an object detection sensor, a distance sensor (or a lidar sensor), a touch sensor, a light sensor (or an IR sensor), a TOF (time of flight) sensor, etc. When the sensor recognizes that the user has approached the massage device (1000), the sensor may generate a sensing signal indicating that the user has approached the massage device (1000) and transmit the generated sensing signal to the control unit (1400). The control unit (1400) may receive the sensing signal transmitted from the sensor and control the state of the massage device (1000) to a second standing state based on the sensing signal. At this time, when the control unit (1400) receives a sensing signal indicating that the user has approached the massage device (1000), the control unit (1400) may determine (or determine) that the user's intention is to board the massage device (1000).

[0255] As another example, the control unit (1400) can control the state of the massage device (1000) to a second standing state based on an input signal transmitted from an input unit (or remote control) of the massage device (1000).

[0256] For example, the input unit (or massage device control unit) may receive a user's input to adjust the state of the massage device (1000) to a second standing state and / or a user's input to board the massage device (1000) (or a user's input to use the massage device (1000), generate an input signal for the user's input, and transmit the input signal to the control unit (1400). The control unit (1400) may receive the input signal transmitted from the input unit, and control the state of the massage device (1000) to the second standing state based on the input signal. At this time, when an input signal for a user's input to adjust the state of the massage device (1000) to a second standing state and / or a user's input to board the massage device (1000) is received, the control unit (1400) may determine (or determine) that the user's intention is to board the massage device (1000).

[0257] As described above, the control unit (1400) determines whether the state of the massage device (1000) corresponds to the user's intention to ride the massage device, and if the user's intention and the state of the massage device (1000) correspond, the state of the massage device (1000) is maintained, and if the user's intention and the state of the massage device (1000) do not correspond, the state of the massage device (1000) can be changed to the second standing state.

[0258] In FIG. 16, after the control unit (1400) of the massage device (1000) obtains the user's intention and the state of the massage unit (5200) (S1610), if the user's intention is to sit on the massage device (1000) and rest in the massage device (1000) or to operate an electronic device in the massage device (1000), and the state of the massage unit (5200) is not the first standing (5000b) state corresponding to the user's intention (S1630), the control unit (1400) of the massage device (5200) can control the state of the massage unit (5200) to become the first standing (5000b) state corresponding to the user's intention (or the intention to rest or the intention to operate the device) (S1650).

[0259] For example, the control unit (1400) can control the state of the massage device (1000) to a first standing state based on a sensing signal indicating whether the user has completed boarding transmitted from a sensor.

[0260] For example, various sensors may recognize that a user has boarded and / or sat on the second support unit through a voice sensor, an object detection sensor (e.g., a pressure sensor, a light sensor, etc. installed on the second support unit), a touch sensor, etc. Specifically, a pressure sensor may detect the weight of a user seated on the second support unit and recognize that the user has boarded the massage device (1000) when the weight is greater than a preset threshold. A light sensor may recognize that the user has boarded the massage device (1000) by recognizing the user's body (or lower body) close to the second support unit when the user has boarded the massage device (1000). A voice sensor may recognize the user's voice indicating that the user has completed boarding. A touch sensor may detect physical contact between the user and at least one of the first and second support units when the user has boarded the massage device (1000).

[0261] When the sensor recognizes that the user has completed boarding the massage device (1000), the sensor can generate a sensing signal indicating that the user has completed boarding the massage device (1000) and transmit the generated sensing signal to the control unit (1400). The control unit (1400) can receive the sensing signal transmitted from the sensor and control the state of the massage device (1000) to a first standing state based on the sensing signal. At this time, when the control unit (1400) receives a sensing signal indicating that the user has completed boarding the massage device (1000), the control unit (1400) can recognize that the user's intention is to rest in the massage device (1000) and / or to use an electronic device.

[0262] As another example, the control unit (1400) can control the state of the massage device (1000) to a first standing state based on an input signal transmitted from an input unit (or remote control) of the massage device (1000).

[0263] For example, the input unit (or massage device control unit) may receive a user's input to adjust the state of the massage device (1000) to a first standing state, a user's input indicating that the user has completed boarding the massage device (1000), a user's input indicating that the user wants to rest in the massage device (1000) (or a user's input indicating that the user wants to operate an electronic device in the massage device (1000), and may generate an input signal for the user's input and transmit the same to the control unit (1400). The control unit (1400) may receive the input signal transmitted from the input unit and control the state of the massage device (1000) to the first standing state based on the input signal. At this time, when the control unit (1400) receives an input signal for a user's input to adjust the state of the massage device (1000) to the first standing state, a user's input indicating that boarding the massage device (1000) is completed, and a user's input indicating that he or she wants to rest in the massage device (1000), the control unit (1400) may determine (or decide) that the user's intention is an intention to rest in the massage device (1000) and / or an intention to operate the electronic device. As described above, the control unit (1400) may determine whether the state of the massage device (1000) corresponds to the user's intention to rest (or the intention to operate the electronic device), and may maintain the state of the massage device (1000) if the user's intention and the state of the massage device (1000) correspond, and may change the state of the massage device (1000) to the first standing state if they do not correspond.

[0264] In FIG. 17, after the control unit (1400) of the massage device (1000) acquires the user's intention and the state of the massage unit (5200) (S1710), the user's intention is to complete the operation of the massage device (1000) to execute the massage mode to receive a massage, and based on the fact that the state of the massage unit (5200) is not a zero-gravity (5000e) state and / or a normal angle (5000a) state corresponding to the user's intention (or a recliner state) (S1730), the control unit (1400) of the massage device (5200) can control the state of the massage unit (5200) to be a zero-gravity (5000e) state and / or a normal angle (5000a) state corresponding to the user's intention (S1750). At this time, the zero gravity (5000e) state may be an arbitrary angle optimized for each massage mode, such as an angle of the first and / or second support member being a preset zero gravity angle (for example, at least one angle of about 160 degrees to about 180 degrees), and / or an angle matching the massage mode being executed.

[0265] For example, the control unit (1400) can control the state of the massage device (1000) to a zero-gravity state and / or a normal angle state based on an input signal transmitted from an input unit (or remote control) of the massage device (1000).

[0266] For example, the input unit (or massage device control unit) may receive a user's input to adjust the state of the massage device (1000) to a zero-gravity state and / or a normal angle state, and / or a user's input to execute a massage mode included in the massage device (1000), and generate an input signal for the user's input and transmit it to the control unit (1400). The control unit (1400) may receive the input signal transmitted from the input unit, and control the state of the massage device (1000) to the zero-gravity state and / or the normal angle state based on the input signal. At this time, when an input signal for the user's input to adjust the state of the massage device (1000) to a zero-gravity state and / or a normal angle state, and / or the user's input to execute a massage mode is received, the control unit (1400) may determine (or determine) that the user's intention is to execute the massage mode to receive a massage from the massage device (1000).

[0267] As another example, the control unit (1400) can control the state of the massage device (1000) to a zero-gravity state and / or a normal angle state based on preset conditions.

[0268] When a specific preset time elapses while the user is riding on the massage device (1000), the control unit (1400) automatically controls the state of the massage device (1000) to a zero-gravity state and / or a normal angle state, and may execute a specific preset massage mode. A specific time and a specific massage mode may be preset by a specific entity (user, seller, manufacturer, etc.) and stored in the memory of the massage device (1000) for automatic control of the zero-gravity state, automatic control of the normal angle state, and / or automatic execution of the massage mode. At this time, when a specific preset time elapses while the user is riding on the massage device (1000), the control unit (1400) may determine (or decide) that the user's intention is to execute the massage mode to receive a massage from the massage device (1000).

[0269] As described above, the control unit (1400) determines whether the state of the massage device (1000) corresponds to the user's intention to execute the massage mode, and if the user's intention and the state of the massage device (1000) correspond, the state of the massage device (1000) is maintained, and if they do not correspond, the state of the massage device (1000) can be changed to the second standing state.

[0270] In FIG. 18, after the control unit (1400) of the massage device (1000) obtains the user's intention and the state of the massage unit (5200) (S1810), based on the user's intention to leave (or get off) the massage device (1000) and the state of the massage unit (5200) not being the third standing (5000d) state corresponding to the user's intention (S1830), the control unit (1400) of the massage device (1000) can control the state of the massage unit (5200) to be changed to the third standing (5000d) state corresponding to the user's intention (S1850).

[0271] For example, the control unit (1400) can control the state of the massage device (1000) to a third standing state based on a sensing signal indicating whether the user has left the device transmitted from the sensor.

[0272] For example, the sensor may recognize whether the user is leaving the second support unit through a voice sensor, an object detection sensor (e.g., a pressure sensor, a light sensor, etc. installed on the second support unit), a touch sensor, etc. Specifically, the pressure sensor may detect the weight of the user seated on the second support unit and recognize that the user is leaving the massage device (1000) when the weight is below a preset threshold. The light sensor may recognize that the user is leaving the massage device (1000) by recognizing the user's body (or lower body) leaving the second support unit when the user is riding the massage device (1000). The voice sensor may recognize the user's voice indicating that the user is leaving. The touch sensor may detect the release of physical contact between the user and at least one of the first and second support units when the user is leaving the massage device (1000).

[0273] When the sensor recognizes that the user has disengaged from the massage device (1000), the sensor can generate a sensing signal indicating that the user has disengaged from the massage device (1000) and transmit the generated sensing signal to the control unit (1400). The control unit (1400) can receive the sensing signal transmitted from the sensor and control the state of the massage device (1000) to a third standing state based on the sensing signal. At this time, when the control unit (1400) receives a sensing signal indicating that the user has disengaged from the massage device (1000), the control unit (1400) can recognize that the user's intention is to disengage from the massage device (1000).

[0274] As another example, the control unit (1400) can control the state of the massage device (1000) to the third standing state based on an input signal transmitted from an input unit (or remote control) of the massage device (1000). For example, the input unit (or massage device control unit) can receive a user's input to adjust the state of the massage device (1000) to the third standing state and / or a user's input to leave the massage device (1000), generate an input signal for the user's input, and transmit the generated input signal to the control unit (1400). The control unit (1400) can receive the input signal transmitted from the input unit, and control the state of the massage device (1000) to the third standing state based on the input signal. At this time, when the control unit (1400) receives an input signal for a user's input to adjust the state of the massage device (1000) to the third standing state and / or a user's input to leave the massage device (1000), the control unit (1400) can determine (or decide) that the user's intention is to leave the massage device (1000).

[0275] As another example, the control unit (1400) may control the state of the massage device (1000) to the third standing state based on preset conditions. When the massage mode is terminated and / or a preset specific time has elapsed while the user is riding the massage device (1000), the control unit (1400) may automatically control the state of the massage device (1000) to the third standing state, and may terminate the massage mode if the massage mode is running. At this time, the specific time may be preset by a specific entity (user, seller, manufacturer, etc.) for automatic control of the third standing state and automatic termination of the massage mode and may be stored in the memory of the massage device (1000). At this time, when the massage mode is terminated and / or a preset specific time has elapsed while the user is riding the massage device (1000), the control unit (1400) may determine (or determine) that the user's intention is to leave the massage device (1000).

[0276] The first specific time for the above-described automatic control of the zero-gravity state (or automatic control of the general angle state) and the second specific time for the third automatic control of the standing state may be different or the same.

[0277] As described above, the control unit (1400) determines whether the state of the massage device (1000) corresponds to the user's intention to leave the massage device, and if the user's intention and the state of the massage device (1000) correspond, the state of the massage device (1000) is maintained, and if they do not correspond, the state of the massage device (1000) can be changed to the third standing state.

[0278] In FIG. 19, after the control unit (1400) of the massage device (1000) acquires the user's intention and the status of the massage unit (5200) (S1910), if the user's intention is no longer acquired (no intention) and the user's disembarkation is detected, the control unit (1400) can control the status of the massage unit (5200) to be changed to the normal angle (5000a) status (S1950) based on the fact that the status of the massage unit (5200) is not the normal angle (5000a) status corresponding to the user's intention (no intention) (S1930).

[0279] For example, if the user is away from the massage device (1000) and / or a signal from a sensor and / or input unit is not received for a certain period of time, the control unit (1400) may recognize that the user's intention is not intentional and control the state of the massage device (1000) to a normal angle state, which is an initial state (or standby state).

[0280] As described above, the control unit (1400) determines whether the state of the massage device (1000) corresponds to the user's intention, and if the user's intention and the state of the massage device (1000) correspond, the state of the massage device (1000) is maintained, and if they do not correspond, the state of the massage device (1000) can be changed to a normal state.

[0281] As described above, if the user's intention is to rest (or to operate an electronic device), the control unit (1400) controls the state of the massage device (1000) to the first standing state, but is not limited thereto. For example, in FIG. 20, after the control unit (1400) of the massage device (1000) acquires the user's intention and the state of the massage unit (5200) (S2010), if the user's intention is to rest, based on the fact that the state of the massage unit (5200) is not a state corresponding to the user's intention (S2030), the control unit (1400) can control the state of the massage unit (5200) to be changed to one of the first standing, second standing, third standing, reclining, and normal states corresponding to the user's intention (S2050). In step S2050, the control unit (1400) may control the state of the massage unit (5200) to be changed to one of the first standing, second standing, third standing, reclining, and normal states corresponding to the user's intention based on the setting value input by the user.

[0282] In the present invention, the control unit (1400) can determine the user's intention based on sensing values ​​detected by various sensors installed in the massage device (1000). For example, the sensor of the massage device (1000) may be at least one of a voice sensor that detects the user's voice, an object detection sensor that detects the user or whether the user is close to the massage device, a lidar sensor that detects the distance between the user and the massage device, a touch sensor that detects the user's touch, an IR sensor that detects a change in nearby infrared rays due to the user, a seating sensor installed in the second support member (5200b) that detects the user's sitting, and an input unit of a remote control of the massage device (1000).

[0283] The embodiments of the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded on a computer-readable medium. At this time, the medium may include a magnetic medium such as a hard disk, a floppy disk, and a magnetic tape, an optical recording medium such as a CD-ROM and a DVD, a magneto-optical medium such as a floptical disk, and a hardware device specifically configured to store and execute program instructions, such as a ROM, a RAM, a flash memory, etc.

[0284] Meanwhile, the computer program may be specifically designed and constructed for the present invention, or may be one known and available to those skilled in the computer software field. Examples of computer programs may include not only machine language code, such as that generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.

[0285] The specific implementations described in the present invention are exemplary embodiments and do not limit the scope of the present invention in any way. For the sake of brevity, descriptions of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the lines connecting or connecting members between components illustrated in the drawings are merely representative of functional connections and / or physical or circuit connections, and may be replaced or represented as various additional functional connections, physical connections, or circuit connections in an actual device. In addition, unless specifically mentioned as “essential,” “important,” etc., a component may not be absolutely necessary for the application of the present invention.

[0286] The use of the term "above" and similar referential terms in the specification of the present invention (especially in the claims) may refer to both singular and plural. Furthermore, if a range is described in the present invention, it includes inventions that apply individual values ​​within the range (unless otherwise stated), and is equivalent to describing each individual value constituting the range in the detailed description of the invention. Finally, unless the order of the steps constituting the method according to the present invention is explicitly stated or otherwise stated to the contrary, the steps may be performed in any appropriate order. The present invention is not necessarily limited by the order in which the steps are described. The use of all examples or exemplary terms (e.g., "for example," etc.) in the present invention is merely intended to illustrate the present invention in detail, and the scope of the present invention is not limited by the examples or exemplary terms, unless otherwise defined by the claims. Furthermore, those skilled in the art will appreciate that various modifications, combinations, and variations can be made within the scope of the appended claims or their equivalents, depending on design conditions and factors.

[0287] 1000: Massage device

[0288] 1400: Control Unit

[0289] 1410: Sensor section

[0290] 1420: Ministry of Communications

[0291] 1430: Memory

[0292] 1440: Output section

[0293] 1450: Input section

Claims

1. A massage unit that supports the user's body and massages at least a part of the user's body; and A control unit for controlling the above massage unit is included; The above control unit, A massage device that controls the massage unit so that the state of the massage unit corresponds to the user's intention based on the user's intention.

2. In paragraph 1, The above control unit, Control the massage unit based on whether the state of the massage unit corresponds to the user's intention. If the state of the above massage part corresponds to the user's intention, control is made to maintain the state of the above massage part, A massage device that controls the state of the massage unit to change to a state corresponding to the user's intention when the state of the massage unit does not correspond to the user's intention.

3. In paragraph 2, The above control unit, A massage device that determines any one of the plurality of random states as a state corresponding to the user's intention based on a plurality of preset random states and a random intention matching each random state, and determines whether the state of the massage device corresponds to the user's intention based on the determination result.

4. In paragraph 1, The above massage part includes a first support part that supports the user's upper body; and a second support part that supports the user's lower body; The state of the above massage part is determined based on at least one of the first angle of the first support part and the second angle of the second support part, The above control unit, A massage device that controls the massage unit to change or maintain at least one of the first and second angles based on whether the state of the massage unit corresponds to the user's intention.

5. In paragraph 4, The above control unit, A massage device that determines any one of the plurality of arbitrary states as a state corresponding to the user's intention based on a plurality of predetermined arbitrary states and an arbitrary intention matched to each of the arbitrary states, and determines whether the state of the massage part corresponds to the user's intention based on an arbitrary angle matched to any one of the arbitrary states.

6. In paragraph 4, The above control unit, A massage device that controls the state of the massage unit to be changed to a state corresponding to the user's intention by changing the first and second angles based on any angle matching any one of the states, when the state of the massage unit is not a state corresponding to the user's intention.

7. In paragraph 4, The above control unit, A massage device, wherein when the user's intention is to rest on the massage device or to operate at least one of the massage device and any device, and the state of the massage unit is not a state corresponding to the user's intention, the device controls the state of the massage unit to be changed to a first standing state.

8. In paragraph 4, The above control unit, A massage device that controls the state of the massage device to be changed to a second standing state when the user's intention is to board the massage device and the state of the massage unit does not correspond to the user's intention.

9. In paragraph 4, The above control unit, A massage device that controls the state of the massage unit to be changed to one of the first standing, second standing, third standing, reclining, and normal states corresponding to the user's intention when the user's intention is to rest and the state of the massage unit is not a state corresponding to the user's intention.

10. In paragraph 9, The above control unit, A massage device that controls the state of the massage part to be changed to one of the first standing, second standing, third standing, reclining, and normal states corresponding to the user's intention based on the setting value input by the user.

11. In paragraph 4, The above control unit, A massage device that controls the state of the massage device to be changed to a third standing state corresponding to the user's will when the user's will is to leave the massage device and the state of the massage unit is not a state corresponding to the user's will.

12. In paragraph 1, The above control unit, A massage device that controls the state of the massage part to change to a normal angle state when the user's intention is no longer detected.

13. In paragraph 1, The above control unit, A massage device that acquires the user's intention based on at least one of a sensing value detected by a sensor of the massage device and a user's input transmitted from an input unit of the massage device.

14. In paragraph 4, The sensor of the above massage device is, A massage device comprising at least one of a voice sensor for detecting the user's voice, an object detection sensor for detecting the user or detecting whether the user is close to the massage device, a lidar sensor for detecting the distance between the user and the massage device, a touch sensor for detecting the user's touch, an IR sensor for detecting a change in nearby infrared rays due to the user, a seating sensor installed on the second support for detecting the user's sitting, and an input unit of a remote control of the massage device.

15. In paragraph 1, The control unit controls the state of the massage unit to a state corresponding to the user's intention based on at least one of the sensing value of the sensor of the massage device and the user's input. A massage device, wherein the state corresponding to the user's intention includes at least one of a first state corresponding to a first intention in which the user intends to leave the massage device, a second state corresponding to a second intention in which the user intends to board the massage device, a third state corresponding to a third intention in which the user intends to rest or operate any device in the massage device, and a fourth state corresponding to a fourth intention in which the user intends to receive a massage in the massage device.

16. A method for controlling a massage device according to any one of paragraphs 1 to 15, A method for controlling a massage device, comprising a step of controlling the massage unit so that the state of the massage unit corresponds to the user's intention based on the user's intention.

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