Massage device for providing complex movement of limbs, and massage device control method

Abstract

A massage device according to one embodiment of the present invention comprises: a body massage unit for massaging at least a part of the body of a user; first and second leg massage units disposed below the body massage unit; a first arm massage unit which is disposed at a position corresponding to the first leg massage unit and which can move forward or backward; a second arm massage unit which is disposed at a position corresponding to the second leg massage unit and which can move forward or backward; and a control unit for controlling such that an operation of moving the first arm massage unit and / or the second arm massage unit forward is linked to an operation of increasing the length of the first leg massage unit and / or the second leg massage unit.

Description

Massage device providing complex movement of limbs and method for controlling the massage device

[0001] The present invention relates to a massage device including an arm massage unit and a leg massage unit, and more specifically, to a massage device capable of providing a user with a composite movement of the arms and legs by applying arm movements and leg movements in combination.

[0002] Massage is a medical auxiliary therapy that regulates the user's biological rhythm, improves blood circulation, and relieves fatigue by applying or inducing various forms of mechanical stimulation to the user's body, such as kneading, pressing, pulling, tapping, or inducing movement.

[0003] As eating habits, living patterns, areas of activity, and lifestyles change and interest in health and work-life balance increases, demand for massage devices or massage machines (hereinafter collectively referred to as “massage devices”) that provide muscle relaxation, tension relief, fatigue recovery, and stress relief is increasing.

[0004] Recently, massage devices have been developed to go beyond simply providing massage to the user's body and are now also implemented as electronic devices that provide various additional functions, convenience functions, and medical assistance functions.

[0005] However, these functions added to the massage device are merely functions that increase the user's convenience for using the massage device, such as interfacing, or assist in performing other activities other than massage more conveniently, and are somewhat unrelated to functions that provide direct stimulation or effects to the user's body, such as exercise or stretching.

[0006] Although massage devices having a function of operating an arm massage unit or a leg massage unit have been disclosed, these functions are only used for limited purposes, such as to increase convenience or safety when a user is riding (sitting on, etc.) on a massage device, or to adjust the length to fit the user's body size.

[0007] The present invention was created against the background described above, and its purpose is to provide a massage device capable of providing a direct effect to a user's body by inducing complex movements or motions of the arms and legs, including a twisting motion of the arms and legs, by utilizing the organic movement relationship of a plurality of massage parts provided in the massage device.

[0008] Other objects and advantages of the present invention can be understood through the following description and will be more clearly understood through the embodiments of the present invention. Furthermore, the objects and advantages of the present invention can be realized through the configurations and combinations of configurations set forth in the claims.

[0009] The technical problems to be solved by the present invention are not limited to the problems described above, and other problems not mentioned will be clearly understood by those skilled in the art from the description of the invention described below.

[0010] In order to achieve the above object, a massage device according to one embodiment of the present invention may include a body massage unit that massages at least a part of a user's body; first and second leg massage units that are arranged at a lower portion of the body massage unit; a first arm massage unit that is arranged at a position corresponding to the first leg massage unit and can move forward or backward; a second arm massage unit that is arranged at a position corresponding to the second leg massage unit and can move forward or backward; and a control unit that controls an operation in which at least one of the first and second arm massage units moves forward and an operation in which at least one of the first and second leg massage units increases in length to be linked.

[0011] Specifically, the control unit of the present invention can control a first operation in which one of the first arm massage unit or the second arm massage unit moves forward and a second operation in which the length of the leg massage unit, which is positioned at a position crossing the arm massage unit where the first operation is performed, among the first and second leg massage units, increases so as to be linked.

[0012] In addition, the control unit of the present invention can control the leg massage unit of the second operation to rotate downwards in a third operation.

[0013] Furthermore, the control unit of the present invention can control the second operation and the third operation to have a time series nature, and according to an embodiment, can control the third operation to be performed after the second operation is performed.

[0014] Preferably, the control unit of the present invention can control the time required for the first operation and the time required for the second operation to correspond to each other, and can control the operation so that when one of the first and second operations is completed, the other operation is completed.

[0015] In addition, the control unit of the present invention can control so that the sum of the time required for the second operation and the time required for the third operation corresponds to the time required for the first operation, and when the second operation is completed before the first operation, the control unit can control so that the third operation is performed, but can control so that the third operation is ended at the time when the first operation is completed.

[0016] According to an embodiment, a massage device according to one embodiment of the present invention may further include a first arm air cell provided in the first arm massage part; and a second arm air cell provided in the second arm massage part.

[0017] In this case, the control unit of the present invention can control the arm air cell provided in the arm massage unit moving forward among the first and second arm air cells to expand.

[0018] According to an embodiment, a massage device according to one embodiment of the present invention may further include a first leg air cell provided in the first leg massage section; and a second leg air cell provided in the second leg massage section.

[0019] In this case, the control unit of the present invention can control the leg air cell provided in the leg massage part whose length increases among the first and second leg air cells to expand.

[0020] In addition, the control unit of the present invention can control the arm air cell provided in the arm massage unit where the first operation is performed and the leg air cell provided in the leg massage unit where the second operation is performed to expand.

[0021] Preferably, the control unit of the present invention can control the expansion of an air cell having a relatively large capacity among the air cells to be expanded so that the expansion completion times correspond to each other.

[0022] According to an embodiment, the control unit of the present invention can control a preparatory operation including at least one of a first preparatory operation in which the first and second arm massage units are positioned at a first reference position within the forward and backward movement range of the first and second arm massage units, a second preparatory operation in which the body massage unit is tilted backward, a third preparatory operation in which the length of the first and second leg massage units becomes a first reference length, and a fourth preparatory operation in which the angle of the first and second leg massage units becomes a first reference angle to be performed prior to the first or second operation.

[0023] In addition, the control unit of the present invention may be configured to vary at least one of the first reference position, the first reference length, and the first reference angle according to the set stretching intensity or the number of times the first and second operations are performed.

[0024] In this case, the control unit of the present invention can control the first reference angle to become an angle that is tilted more downward as the number of the above-described operation cycles increases.

[0025] Preferably, at least one of the movement distance by the first action, the extension distance by the second action, and the rotation range by the third action is variably set by at least one of the user's body information, disease information, and the user's selection information.

[0026] According to an embodiment of the present invention, a massage device may further include a shoulder air cell provided at a location corresponding to the user's shoulder area. In this case, the control unit of the present invention may control the expansion of the shoulder air cell to occur before, after, or during the first or second operation.

[0027] According to an embodiment of the present invention, a massage device may further include a first arm driving unit that moves the first arm massage unit; a second arm driving unit that moves the second arm massage unit; a first leg driving unit that drives at least one of rotation and length expansion of the first leg massage unit; and a second leg driving unit that drives at least one of rotation and length expansion of the second leg massage unit.

[0028] A method for controlling a massage device according to another aspect of the present invention may include a control step for controlling a motion in which at least one of the first and second arm massage parts moves forward and a motion in which at least one of the first and second leg massage parts increases in length to be linked.

[0029] According to one embodiment of the present invention, through the combined action of the leg massage part and the arm massage part, motions or movements such as twisting of the arms and legs can be more effectively induced, thereby activating body functions and further improving the stretching effect.

[0030] According to one embodiment of the present invention, in addition to providing massage, which is a unique function of the massage device, it can also provide practical effects for exercise, rehabilitation, stretching, etc. targeting arms and legs, thereby further increasing the usability and effectiveness of the massage device.

[0031] In one embodiment of the present invention, a dual action of moving one arm forward and extending the other leg forward at a position where it crosses the one arm is performed in a complex manner, thereby stimulating the forearm muscles, brachialis muscles, thigh muscles, and gastrocnemius muscles together, thereby providing the effect of stretching as well as the effect of relieving symptoms such as pain and numbness.

[0032] According to one embodiment of the invention, by adaptively controlling the expansion and contraction of air cells provided in an arm massage part or a leg massage part according to the movement of the arm massage part or the leg massage part, the user's body part can be firmly supported or the support can be released, thereby making it possible to more intensively focus the effects of stretching, etc., and effectively implement injury prevention, etc.

[0033] The following drawings attached to this specification illustrate preferred embodiments of the present invention, and together with the detailed description of the invention described below, serve to more effectively understand the technical idea of ​​the present invention, and therefore, the present invention should not be interpreted as being limited to the matters described in these drawings.

[0034] FIG. 1 is a drawing for explaining a massage device according to one embodiment of the present disclosure;

[0035] Figure 2 is a block diagram of a massage device according to one embodiment of the present disclosure;

[0036] FIG. 3 is an exploded view of a part of a massage device according to one embodiment of the present invention;

[0037] Figure 4 is a drawing for explaining a main frame according to one embodiment of the present invention;

[0038] FIG. 5 is a drawing showing the connection relationship of actuators for adjusting the seat angle, back angle, and leg angle in a massage device according to one embodiment of the present invention.

[0039] Figure 6 is a drawing showing an example of posture change of a massage device according to the present invention;

[0040] FIG. 7 is a drawing showing the structure and operation for independent movement of the arm massage part of a massage device according to one embodiment of the present invention;

[0041] FIG. 8 is a drawing showing the inner side of the arm massage providing unit of the massage device according to one embodiment of the present invention;

[0042] Fig. 9 is a partially exploded perspective view of the arm massage unit shown in Fig. 7;

[0043] Figure 10 is a component diagram of an arm massage unit drive module of a massage device according to one embodiment of the present invention.

[0044] FIG. 11 is a drawing for explaining a sensor part of an arm massage unit of a massage device according to one embodiment of the present invention;

[0045] Figure 12 is a drawing explaining a joint between an arm massage unit and a body massage unit in a massage device according to the present invention.

[0046] Figure 13 is a drawing for explaining the joint structure and assembly method of the joint shown in Figure 12.

[0047] Figures 14 to 16 are block diagrams showing the detailed configuration of a massage device according to one embodiment of the present invention.

[0048] Figure 17 is a flowchart explaining the overall processing process of the present invention.

[0049] Figure 18 is a flowchart illustrating a processing process according to one embodiment of the present invention.

[0050] Figure 19 is a drawing explaining a preparatory operation according to one embodiment of the present invention;

[0051] FIG. 20 is a flowchart illustrating a processing process according to one embodiment of the present invention that implements synchronization of movements.

[0052] Figure 21 is a drawing explaining synchronization of the progress time of the first to third operations.

[0053] FIG. 22 is a drawing illustrating processing according to one embodiment of the present invention for controlling air cells;

[0054] Figures 23 and 24 are drawings explaining the operational relationship of a massage device according to an embodiment of the present invention.

[0055] In order to achieve the above object, a massage device according to one embodiment of the present invention may include a body massage unit that massages at least a part of a user's body; first and second leg massage units that are arranged at a lower portion of the body massage unit; a first arm massage unit that is arranged at a position corresponding to the first leg massage unit and can move forward or backward; a second arm massage unit that is arranged at a position corresponding to the second leg massage unit and can move forward or backward; and a control unit that controls an operation in which at least one of the first and second arm massage units moves forward and an operation in which at least one of the first and second leg massage units increases in length to be linked.

[0056] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Prior to this, it should be noted that the terms and words used in this specification and claims should not be construed as limited to their conventional or dictionary meanings. Based on the principle that the inventor can appropriately define the concept of a term to best explain his or her invention, they should be interpreted in a way that conforms to the technical spirit of the present invention.

[0057] Therefore, the embodiments described in this specification and the configurations illustrated in the drawings are only the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention. Therefore, it should be understood that there may be various equivalents and modified examples that can replace them at the time of filing this application.

[0058] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but there may also be other components in between.

[0059] Conversely, when a component is said to be "directly connected" or "directly connected" to another component, this should be understood as meaning that there are no intervening components. Other expressions used to describe relationships between components should also be interpreted in the same way.

[0060] The terms used in this specification are only used to describe specific embodiments and are not intended to limit the present invention, and singular expressions include plural expressions unless the context clearly indicates otherwise.

[0061] As used herein, the terms "comprise" or "have" imply the presence of a feature, number, step, operation, component, part, or combination thereof. Therefore, it should be understood that these terms do not exclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0062] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0063] In this specification, an actuator refers to a structure capable of providing driving force. For example, an actuator may include, but is not limited to, a motor, a linear motor, an electric motor, a DC motor, an AC motor, a linear actuator, an electric actuator, and the like.

[0064] Hereinafter, with reference to FIGS. 1 to 13, the basic embodiment of the present invention and the details of the driving mechanism of the present invention will first be described, and the details of the embodiment of the present invention that provides a stretching mode, etc. will be described later.

[0065]

[0066] FIG. 1 is a drawing for explaining a massage device according to one embodiment of the present disclosure.

[0067] A massage device (100) according to one embodiment of the present disclosure forms an area for receiving at least a part of a user's body, and may include at least a part or all of a body massage unit (1000) for massaging the user's body, a leg massage unit (2000) for massaging the user's legs, and an arm massage unit (3000) for massaging the user's arms.

[0068] The body massage unit (1000) can provide a massage to at least a portion of the user's body. To this end, the body massage unit (1000) may include a main frame (1100) forming the skeleton of the body massage unit (1000) and a massage module (1700) providing a massage function to at least a portion of the user's body. In addition, the body massage unit (1000) may include an audio output module (1500) for providing an audio output of any form to the user, and an input unit (350) for receiving an input of any form from the user.

[0069] The configurations included in the body massage unit (1000) described above are merely exemplary embodiments, and the body massage unit (1000) may include various configurations in addition to the configurations described above.

[0070] In addition, the shape and structure of the massage device (100) illustrated in FIG. 1 are merely exemplary, and various forms of massage devices (100) may also be included within the scope of the present disclosure, as long as they do not exceed the scope of rights defined by the claims of the present disclosure.

[0071] The body massage unit (1000) can form a space of any shape for accommodating a user. The body massage unit (1000) can have a space of a shape corresponding to the shape of the user's body. For example, as illustrated in FIG. 1, the body massage unit (1000) can be implemented as a seating type that can accommodate the user's entire body or a portion of the body. The body massage unit (1000) includes a back portion (1000a) that accommodates the user's upper body, including the user's back, and a seat portion (1000b) that supports the user's buttocks.

[0072] The part of the body massage unit (1000) that comes into contact with the ground may include any material to increase friction or any member to increase friction (e.g., an anti-slip pad, etc.), and may include wheels to enhance the mobility of the massage device (100).

[0073] At least a portion of the body massage unit (1000) can slide. For example, when the body massage unit (1000) begins a massage, at least a portion of the body massage unit (1000) can slide forward. Additionally, the body massage unit (1000) can tilt backward. As a result, the body massage unit (1000) can provide a massage while tilted backward.

[0074] According to one embodiment of the present disclosure, the massage device (100) may include at least one air cell. The air cell may be positioned on the user's shoulder area, pelvic area, leg massage part (2000), arm massage part (3000), etc., but is not limited thereto and may be positioned in various parts of the massage device (100).

[0075] The massage device (100) may include an air supply unit, which may inflate the air cell by supplying air to the air cell. The air supply unit may be located inside the body massage unit (1000) or in the leg massage unit (2000). Additionally, the air supply unit may be located outside the massage device (100).

[0076] The arm massage units (3000) located on both sides of the body massage unit (1000) are provided with arm receiving grooves (3110) in the shape of the letter 'ㄷ' so that the user can comfortably place their arms and receive a massage while seated. Air cells may be installed on the upper and lower sides of the arm receiving grooves to massage the user's arms by applying downward and / or upward pressure.

[0077] The arm massage unit (3000) may include a support unit (3200) positioned on the lower side and an arm massage providing unit (3100) positioned on the upper side of the support unit (3200).

[0078] The leg massage unit (2000) can provide a leg massage to the user. For example, the leg massage unit (2000) can include a calf massage unit that massages the user's calves and / or a foot massage unit that massages the user's feet.

[0079] The leg massage unit (2000) may be adjustable in length depending on the user's physical characteristics. For example, if a tall user uses the massage device (100), the length of the leg massage unit (2000) may need to be increased due to the length of their calves. Furthermore, if a short user uses the massage device (100), the length of their calves may need to be decreased due to the length of their leg massage unit (2000). Accordingly, the leg massage unit (2000) may provide a leg massage tailored to the user's height.

[0080] According to one embodiment of the present disclosure, the leg massage unit (2000) may include a first leg massage unit (2000a) and a second leg massage unit (2000b) that are physically separated. For example, the first leg massage unit (2000a) located on one side may correspond to the user's left leg, and the second leg massage unit (2000b) located on the other side may correspond to the user's right leg.

[0081] The first leg massage unit (2000a) and the second leg massage unit (2000b) each include a calf massage unit and a foot massage unit. Accordingly, the first leg massage unit (2000a) and the second leg massage unit (2000b) can individually adjust the length of the leg massage units and provide foot massage. To this end, the first leg massage unit (2000a) and the second leg massage unit (2000b) each include a leg length actuator and a foot massage module.

[0082] The first leg massage unit (2000a) and the second leg massage unit (2000b) can move independently while adjusting the leg angle. The first leg massage unit (2000a) is adjusted by the second leg angle actuator, and the second leg massage unit (2000b) is adjusted by the second leg angle actuator. Therefore, for example, the second leg massage unit (2000b) can be maintained in contact with the ground while the first leg massage unit (2000a) is lifted. In addition, the leg length adjustment and / or leg angle adjustment of the first leg massage unit (2000a) and the second leg massage unit (2000b) can be adjusted differently to implement an operation such as a walking mode.

[0083] Hereinafter, the leg massage unit (2000) may be a term referring to both the first leg massage unit (2000a) and the second leg massage unit (2000b) or both leg massage units, and may be a term referring to an integrated leg massage unit (2000) in which the first leg massage unit (2000a) and the second leg massage unit (2000b) are integrally connected. Except when it is necessary to refer to the first leg massage unit (2000a) and the second leg massage unit (2000b) separately, they are referred to as the leg massage unit (2000).

[0084] The massage module (1700) may be installed inside the body massage unit (1000) to provide any type of mechanical stimulation to a user accommodated in the body massage unit (1000). The massage module (1700) may move along the main frame (1100) installed inside the body massage unit (1000).

[0085] For example, a main frame (1100) of a body massage unit (1000) may be equipped with a rack gear, and a massage module (1700) may move along the rack gear to provide mechanical stimulation to various parts of the user's body. The massage module (1700) may include a ball massage unit or a roller massage unit, but is not limited thereto.

[0086] The main frame (1100) constitutes the skeleton of the internal structure of the body massage unit (1000) and may be made of a metal material or a plastic material. For example, the main frame (1100) may be made of iron, an alloy, steel, etc., but is not limited thereto and may be made of various solid materials.

[0087] According to one embodiment of the present disclosure, the audio output module (1500) of the massage device (100) may be provided at various locations. For example, the audio output module (1500) may include a plurality of output units, such as, but not limited to, an upper audio output unit positioned at the top of the seat portion that comes into contact with the user, a front audio output unit attached to the front ends of the left and right arm massage units (3000) of the seat portion, and / or a rear audio output unit attached to the rear ends of the arm massage units. In this case, the audio output module (1500) may provide a three-dimensional sound such as 5.1 channels, but is not limited thereto.

[0088] According to one embodiment of the present disclosure, a user can control a massage device (100) using a massage device control device (4000). The massage device control device (4000) can be connected to the massage device (100) via wired communication and / or wireless communication.

[0089] The massage device control device (4000) may include a remote controller, a cellular phone, a PDA (Personal Digital Assistant), etc., and may include various electronic devices that can be connected to the massage device (100) via wired or wireless communication, without being limited thereto.

[0090] FIG. 2 is a block diagram of a massage device according to one embodiment of the present disclosure.

[0091] The massage device (100) may include at least one of a control unit (300), a sensor unit (310), a communication unit (320), a memory (330), an audio output unit (340), and an input unit (350).

[0092] The control unit (300) may include at least one processor and memory. If the control unit (300) includes multiple processors, at least some of the processors may be physically separated from each other. Furthermore, the massage device (100) is not limited thereto and may be implemented in various ways.

[0093] According to one embodiment of the present disclosure, the control unit (300) can control the operation of the massage device (100). For example, the control unit (300) can control the operation of the massage device (100) by controlling the operation of a plurality of actuators of the massage device (100).

[0094] For example, the control unit (300) controls the operation of the massage module movement actuator of the massage module (1700), so that the massage module (1700) can move along the rack gear. The massage module (1700) may include at least one actuator, and the control unit (300) may provide various massage movements by operating the at least one actuator. For example, the control unit (300) may provide tapping massage, kneading massage, etc., by operating the at least one actuator included in the massage module (1700), but is not limited thereto, and may provide various massage movements.

[0095] Additionally, for example, a foot massage actuator that operates a foot massage module included in a leg massage unit (2000) can be controlled to provide a foot massage to the user.

[0096] In addition, the length of the leg massage unit (2000) can be adjusted to suit the user by operating the leg length adjustment actuator, and as a result, the user can receive a massage suited to their body type.

[0097] The memory (330) may be included in the control unit (300) or may be located outside the control unit (300). The memory (330) may store various information related to the massage device (100). For example, the memory (330) may include massage control information and personal authentication information, but is not limited thereto.

[0098] The memory (330) may be implemented using a non-volatile storage medium capable of persistently storing arbitrary data. For example, the memory (330) may include, but is not limited to, storage devices based on disks, optical disks, and magneto-optical storage devices, as well as flash memory and / or battery-backed memory.

[0099] Memory (330) may refer to a volatile storage device in which stored information is instantly erased when power is turned off, such as a random access memory (RAM) such as a dynamic random access memory (DRAM) or a static random access memory (SRAM), which is the main storage device directly accessed by the processor, but is not limited thereto. This memory (330) may be operated by the control unit (300).

[0100] The massage device (100) may include a sensor unit (310). The sensor unit (310) may acquire various information using at least one sensor. The sensor unit (310) may be equipped with a sensor that utilizes a measuring means such as pressure, electric potential, and optical. For example, the sensor may include a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, etc., but is not limited thereto.

[0101] Additionally, the sensor unit (310) may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire fingerprint information, facial information, voice information, iris information, weight information, electrocardiogram information, body composition information, etc., but is not limited thereto and may include various types of biometric information.

[0102] According to one embodiment of the present disclosure, the massage device (100) can detect a contact area and / or contact location with a user through the sensor unit (310). In addition, the massage device (100) can obtain information on the user's shoulder position through the sensor unit (310). Through shoulder position sensing, body information such as the user's sitting height can be obtained. In addition, the massage device (100) can provide a customized massage based on the obtained information. For example, when the massage device (100) provides a shoulder massage, the massage device (100) can recognize the user's shoulder position based on the information obtained through the sensor unit (310) and provide the user with a shoulder massage based on the recognition result.

[0103] The communication unit (320) can communicate with modules within the massage device (100), external massage devices, and / or user terminals via any type of network. The communication unit can include wired / wireless connection modules for network connection.

[0104] Wireless access technologies that can be used include, for example, WLAN (Wireless LAN) (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), and HSDPA (High Speed ​​Downlink Packet Access).

[0105] For example, wired connection technologies may include XDSL (Digital Subscriber Line), FTTH (Fibers to the home), and PLC (Power Line Communication). In addition, the network connection unit may include a short-range communication module to transmit and receive data with any device / terminal located in close proximity. For example, short-range communication technologies may include, but are not limited to, Bluetooth, RFID (Radio Frequency Identification), IrDA (Infrared Data Association), UWB (Ultra-Wideband), and ZigBee.

[0106] Additionally, the massage device (100) may further include an input unit (350) or an output unit. The massage device (100) may receive input from a user using the input unit (350). Additionally, the massage device (100) may output the processing results of the control unit (300) to the output unit.

[0107] Specifically, the input unit (350) can receive commands related to the control of the operation of the massage device (100) from the user, and the input unit (350) can be implemented in various forms. For example, the input unit (350) can be provided in the body massage unit (1000) and the leg massage unit (2000), but is not limited thereto. In addition, the input unit (350) can include the massage device control device (4000) of FIG. 1 or various external devices. The massage device (100) can obtain various commands from the user through the input unit (350). For example, the massage device (100) can receive any command for selection of a massage module, selection of a massage type, selection of a massage intensity, selection of a massage time, selection of a massage area, selection of a position and operation of a body massage unit (1000), selection of turning the power of the massage device (100) on and off, selection of whether or not to operate a heating function, selection of a sound source playback, etc., but is not limited thereto.

[0108] The massage device (100) may provide an interface for selecting a massage mode. For example, the input unit (350) or output unit may include a massage device control device (4000). A list of various medical massage modes related to body improvement may be displayed through the massage device control device (4000).

[0109] The medical massage mode may include at least one of a concentration mode, a meditation mode, a recovery mode, a stretching mode, a sleep mode, an energy mode, a golf mode, a hip-up mode, a test taker mode, a zero gravity mode, and a growth mode.

[0110] Stretching modes may include PNF stretching mode, rollback stretching mode, etc.

[0111] According to another embodiment of the present disclosure, the input unit (350) may be provided with hot key type buttons and / or selection buttons for executing direction selection, cancellation, and input, etc., according to preset user-defined functions or self-preset functions. The input unit (350) may be implemented as a key pad, a dome switch, a touch pad (positive / capacitive), a jog wheel, a jog switch, etc., but is not limited thereto. In addition, the input unit (350) may obtain a command through a user's speech based on voice recognition technology.

[0112] According to one embodiment of the present disclosure, the output unit may include a display for displaying the operating status of the massage device (100) or the current status of the user. In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, and a three-dimensional display (3D display), but is not limited thereto.

[0113] The output unit may include an audio output unit (340). The audio output unit (340) may provide any form of audio output to the user through the audio output module (1500). The audio output unit (340) may include the audio output module (1500). For example, the audio output unit (340) may provide brain stimulation to the user by outputting a sound source and / or binaural beats optimized for the massage pattern provided by the massage device (100) to the user through the audio output module (1500). The audio output unit (340) may output an audio signal received through a network (not shown) or stored in an internal / external storage medium (not shown). For example, the audio output unit (340) may output a sound source according to the control of the user terminal through a network connection (e.g., a Bluetooth connection, etc.) with the user terminal. In addition, the audio output unit (340) may output any form of audio signal generated in relation to the operation of the massage device (100).

[0114] Those skilled in the art will readily appreciate that the present invention may be implemented in combination with other program modules and / or as a combination of hardware and software. For example, the present invention may be implemented using a computer-readable medium.

[0115] Any computer-accessible medium can be a computer-readable medium, including both volatile and non-volatile media, transitory and non-transitory media, removable and non-removable media. By way of example, and not limitation, computer-readable media can include computer-readable storage media and computer-readable transmission media.

[0116] Computer-readable storage media includes volatile and nonvolatile media, transitory and non-transitory media, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer-readable storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital video disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be accessed by a computer and used to store the desired information.

[0117] FIG. 3 is an exploded view of a massage device according to one embodiment of the present invention, and FIG. 4 is a view for explaining a main frame according to one embodiment of the present invention.

[0118] Referring to the drawing, the main frame (1100) forms the skeleton of the body massage unit (1000). The main frame (1100) includes a body frame (1200) and a base frame (1300) that supports the body frame (1200).

[0119] The body frame (1200) includes a back frame (1210) that forms the skeleton of the back portion (1000a) that accommodates the user's upper body, and a seat frame (1250) that forms the skeleton of the seat portion (1000b).

[0120] The base frame (1300) is placed on the ground and supports the body frame (1200). The base frame (1300) is placed below the seat frame (1250).

[0121] According to one embodiment of the present disclosure, the main frame (1100) may further include a floor base frame (1380) that slidably supports the base frame (1300). As a result, the base frame (1300) may be formed to be movable forward or backward with respect to the ground while supporting the body frame (1200).

[0122] The floor base frame (1380) is placed in contact with the ground and can support the base frame (1300). At the bottom of the base frame (1300), a sliding unit (1330) may be provided that allows the base frame (1300) to slide relative to the floor base frame (1380).

[0123] The sliding unit may include, for example, a sliding bar, a sliding rail, and a sliding wheel. The sliding bar may be coupled to the lower surface of the base frame (1300). The sliding rail may be coupled to the upper surface of the bottom base frame (1380). The sliding wheel may be positioned inside the sliding rail. When the base frame (1300) moves, the sliding bar moves forward or backward under the guidance of the sliding rail, and the sliding wheel helps the sliding bar move in a straight line along the sliding rail.

[0124] In the present disclosure, the base frame (1300) may include a floor base frame (1380). Therefore, when there is no need to distinguish between the base frame (1300) and the floor base frame (1380), the base frame (1300) may be referred to as a whole including the floor frame (1300).

[0125] The base frame (1300) may be provided with a support shaft frame (1320) extending upward from the body. The support shaft frame (1320) may be connected to the seat frame (1250) by a pin member or the like, and may serve as a support shaft for the seat frame (1250) to rotate forward or backward with respect to the base frame (1300).

[0126] Additionally, the support axis frame (1320) can serve as a connecting part through which the arm massage part (3000) is connected to the base frame (1300).

[0127] A leg massage unit (2000) can be connected to the front of the base frame (1300) so as to be rotatable in the up-and-down direction.

[0128] The body frame (1200) is supported on the base frame (1300).

[0129] The body frame (1200) may be equipped with a rack gear (1211) at least in part. The rack gear (1211) is a member for guiding the up and down movement of the massage module and may include a plurality of ribs and a plurality of floors.

[0130] The rack gear (1211) may be provided in a facing manner on the body frame (1200). The massage module may move along the rack gear (1211). For example, the massage module may include a gear that meshes with the rack gear (1211), and the massage module may move upward or downward by rotating the gear by an actuator provided in the massage module.

[0131] The rack gear (1211) may be made of a metal material or a plastic material. For example, the rack gear (1211) may be made of, but is not limited to, iron, steel, an alloy, reinforced plastic, melamine resin, phenol resin, etc.

[0132] According to one embodiment of the present disclosure, the seat frame (1250) and the back frame (1210) are formed as separate frames, and their respective ends can be arranged adjacent to each other. Since the seat frame (1250) and the back frame (1210) are formed as separate frames and are movably coupled to each other, the angle between the seat frame (1250) and the back frame (1210) can be easily adjusted. The movement of the back frame (1210) corresponds to the movement of the back portion (1000a), and the movement of the seat frame (1250) corresponds to the movement of the seat portion (1000b).

[0133] The back frame (1210) forms the skeleton of the back (1000a) and may include a rack gear support frame (1220) extending in the longitudinal direction while supporting the rack gear (1211).

[0134] The seat frame (1250) supports the back frame (1210) and is placed on top of the base frame (1300). The seat frame (1250) forms the skeleton of the seat portion (1000b), which is the part where the user sits. The seat frame (1250) is installed by being connected to the back frame (1210).

[0135] The back frame (1210) can be rotatably connected to the base frame (1300) and / or the seat frame (1250). The back frame (1210) can be converted to allow the massage device (100) to implement a sitting position and a lying position.

[0136] Additionally, the seat frame (1250) can be rotatably connected to the base frame (1300) and / or the back frame (1210). Accordingly, the angle between the back frame (1210) and the seat frame (1250) can be adjusted when the massage device (100) switches between sitting mode and reclining mode.

[0137] The arm massage unit (3000) is positioned on the side of the body massage unit (1000). The arm massage unit (3000) includes a first arm massage unit (3000a) positioned on one side of the body massage unit (1000), for example, on the right side, and a second arm massage unit (3000b) positioned on the other side, for example, on the left side.

[0138] The first arm massage unit (3000a) may include a first support unit (3200a) positioned at the lower side and a first arm massage provider unit (3100a) positioned above the first support unit (3200a) and independently movable. The second arm massage unit (3000b) may include a second support unit (3200b) positioned at the lower side and a second arm massage provider unit (3100b) positioned above the second support unit (3200b) and independently movable.

[0139] Hereinafter, the arm massage unit (3000) may refer to each or both of the first arm massage unit (3000a) and the second arm massage unit (3000b). In addition, the support unit (3200) may refer to each or both of the first support unit (3200a) and the second support unit (3200b), and the arm massage provider unit (3100) may refer to each or both of the first arm massage provider unit (3100a) and the second arm massage provider unit (3100b).

[0140] Hereinafter, the terms arm massage unit (3000), support unit (3200), and arm massage provider unit (3100) will be used representatively to describe the configuration, except when it is necessary to explain the first arm massage unit (3000a) and the second arm massage unit (3000b) separately.

[0141] FIG. 5 is a drawing showing the connection relationship of actuators for adjusting the seat angle, back angle, and leg angle in a massage device according to one embodiment of the present invention.

[0142] The seat angle can be defined as the angle that the seat frame makes with respect to the ground, the back angle can be defined as the angle that the back frame makes with respect to the ground, and the leg angle can be defined as the angle that the leg massage part makes with respect to the ground.

[0143] Figures 5 (a), (b), and (c) show a seat angle actuator, an isometric angle actuator, and a leg angle actuator, respectively.

[0144] A massage device (100) according to one embodiment of the present disclosure includes a plurality of actuators to provide various massage modes and / or stretching modes.

[0145] A massage device (100) according to one embodiment of the present disclosure may include a sliding actuator (1610) for controlling sliding of the massage device (100) (see FIG. 4).

[0146] A sliding actuator (1610) is installed between the base frame (1300) and the floor base frame (1380) to control the forward and backward movement of the body massage part. One end of the sliding actuator (1610) is connected to the base frame (1300), and the other end is connected to the floor base frame (1380).

[0147] A massage device (100) according to one embodiment of the present disclosure may include a seat angle actuator (1620) to adjust the angle of the seat portion (1000b).

[0148] Referring to (a) of FIG. 5, a seat angle actuator (1620) can be connected between a base frame (1300) and a seat frame (1250). One end of the seat angle actuator (1620) is connected to the base frame (1300), and the other end is connected to the seat frame (1250). The seat angle actuator (1620) can adjust the angle at which the seat frame (1250) and the seat portion (1000b) supported by the seat frame (1250) are tilted by moving the seat frame (1250) in a forward and backward direction with respect to the base frame (1300).

[0149] A massage device (100) according to one embodiment of the present disclosure may include an isometric actuator (1630) to adjust the angle of the back (1000a).

[0150] Referring to (b) of FIG. 5, a conformal angle actuator (1630) can be connected between a seat frame (1250) and a back frame (1210). One end of the conformal angle actuator (1630) is connected to the seat frame (1250), and the other end is connected to the back frame (1210). The conformal angle actuator (1630) can adjust the angle of the back frame (1210) and the back portion (1000a) supported by the back frame (121) by moving the back frame (1210) in the forward and backward direction with respect to the seat frame (1250).

[0151] A massage device (100) according to one embodiment of the present disclosure may include a leg angle actuator (1640) to adjust the angle of a leg massage unit (2000).

[0152] Referring to (c) of FIG. 5, a leg angle actuator (1640) may be provided between the seat frame (1250) and the leg massage unit (2000).

[0153] One end of the leg angle actuator (1640) is connected to the seat frame (1250), and the other end is connected to the leg angle adjustment unit (2110). The leg angle adjustment unit (2110) may have a top end hingedly connected to the base frame (1300) and a wheel at the other end that contacts the rear of the leg massage unit (2000).

[0154] When the leg angle actuator (1640) extends, the leg angle adjustment unit (2110) rotates upward around the hinge connection, and the wheel at the other end pushes up the leg massage unit (2000). When the leg angle actuator (1640) contracts, the leg angle adjustment unit (2110) rotates downward, and the leg massage unit (2000) descends while in contact with the leg angle adjustment unit (2110). In this way, the leg angle actuator (1640) moves the leg angle adjustment unit (2110) to rotate the leg massage unit (2000) in the up-and-down direction, thereby adjusting the angle of the Dara massage unit (2000).

[0155] The massage device according to the present invention does not exclude that one end of the leg angle actuator (1640) is connected to the base frame (1300). However, in the case where the leg angle actuator (1640) is provided between the seat frame (1250) and the leg angle adjustment unit (2110) according to one embodiment of the present disclosure, the angle of the leg massage unit (2000) is adjusted by adding the adjusted angle of the seat frame (1250) and the angle adjusted by the actuation of the leg angle adjustment unit (2110), so that it is easy to increase the angle at which the leg massage unit (2000) is lifted when the posture is changed to the reclining mode.

[0156] In an embodiment in which the leg massage unit (2000) includes a first leg massage unit (2000a) and a second leg massage unit (2000b) that are physically separated and operate independently, a leg angle actuator (1640) is provided for each of the first leg massage unit (2000a) and the second leg massage unit (2000b) and is individually controlled.

[0157] According to one embodiment of the present disclosure, each actuator, including a sliding actuator (1610), a seat angle actuator (1620), a conformal angle actuator (1630), and a leg angle actuator (1640), is controlled by a control unit (300). For example, the control unit (300) can control the sliding, seat angle, conformal angle, and leg angle of the massage device by controlling the actuators.

[0158] According to one embodiment of the present disclosure, each actuator is provided with an encoder capable of detecting the number of rotations and speed of the motor, so that the extension / contraction length, speed, etc. of the actuator can be controlled by the control unit (300) to suit various modes of the massage device (100) and the user's body.

[0159] FIG. 6 is a drawing showing an example of posture change of a massage device according to the present invention.

[0160] According to one embodiment of the present invention, the massage device (100) can be posture-converted to implement a sitting mode (left) and a reclining mode (right).

[0161] A massage device (100) according to one embodiment of the present disclosure can individually adjust the seat angle, back angle, and leg angle to set angles to perform a specific massage mode and a specific stretching mode.

[0162] For example, the massage device (100) can slide forward. Before the massage device (100) changes its posture to the reclining mode, the massage device (100) can slide forward to prevent the massage device (100) from colliding with a structure at the rear.

[0163] Additionally, the massage device (100) can perform movements in which the seat angle, back angle, and leg angle are adjusted simultaneously, sequentially, or with a time delay to perform a specific stretching mode.

[0164] According to one embodiment of the present disclosure, when the massage device (100) changes its posture from a sitting mode to a reclining mode, the back frame (1210) supports the back (1000a) and is laid down toward the ground, the seat frame (1250) supports the seat (1000b) and is lifted relative to the ground, and the leg massage unit (2000) is lifted relative to the ground.

[0165] Additionally, in the arm massage unit (3000), the arm massage providing unit (3100) moves in an inclined direction backward with respect to the support unit (3200).

[0166] In the present disclosure, the direction forward or backward is based on the direction shown in Fig. 6.

[0167] FIG. 7 is a drawing showing the structure and operation for independent movement of an arm massage unit of a massage device according to one embodiment of the present invention, FIG. 8 is a drawing showing the inner side of an arm massage providing unit, FIG. 9 is a partially exploded perspective view of the arm massage unit shown in FIG. 7, and FIG. 10 is a component drawing of an arm massage unit driving module.

[0168] The arm massage unit (3000) is provided on the side of the body massage unit (1000). The arm massage unit (3000) is provided to fix the user's arm and / or provide a massage.

[0169] The arm massage unit (3000) includes a support unit (3200), an arm massage providing unit (3100), and an arm massage unit driving module (3300).

[0170] The arm massage provision unit (3100) is positioned on the upper side of the support unit (3200) and is movably supported.

[0171] The arm massage unit drive module (3300) provides a moving force that enables the arm massage provider (3100) to move independently with respect to the support unit (3200).

[0172] Referring to FIG. 6, the position of the arm massage provider (3100) in the sitting mode (left) of the massage device (100) is referred to as the first position, and the position of the arm massage provider (3100) in the reclining mode (right) of the massage device (100) is referred to as the second position. The second position is a position in which the arm massage provider (3100) is inclined so that the position of the arm massage provider (3100) is lowered while moving rearward compared to the first position. In this way, the arm massage provider (3100) can be inclined downwardly moved from the first position to the second position with respect to the support member (3200).

[0173] An arm receiving groove (3110) is formed in the arm massage providing unit (3100) for inserting the user's arm (see FIG. 8). An air cell (3112) is provided in the arm receiving groove (3110) for fixing the user's arm. The arm receiving groove (3110) is formed as a 'ㄷ' shaped groove that opens toward the inner side (3130) of the arm massage providing unit (3100). The air cell (3112) can be inflated by the air supply unit to fix the user's arm or provide a massage by repeatedly expanding and contracting.

[0174] An interference prevention groove (3101) may be formed on the rear side of the inner surface (3103) of the arm massage provision unit (3100). The interference prevention groove (3101) is formed to prevent interference between the arm massage provision unit (3100) and the back (1000a) when the massage device (100) switches to a reclining mode and the back (1000a) is laid down and / or when the arm massage provision unit (3100) moves with respect to the support unit (3200).

[0175] The support member (3200) can be fixed to the side of the base frame (1300).

[0176] The upper surface (3210) of the support portion (3200) is formed as a downwardly inclined surface that slopes downward toward the rear, and the lower surface (3107) of the arm massage provider portion (3100) is formed to be inclined corresponding to the downwardly inclined upper surface (3210). The arm massage provider portion (3100) moves inclined along the downwardly inclined upper surface (3210) of the support portion.

[0177] The arm massage unit drive module (3300) movably supports the arm massage provider (3100) relative to the support unit (3200) and provides moving force.

[0178] The arm massage unit drive module (3300) may include at least some or all of the arm massage unit actuator (3320), the support plate (3310), the guide rail (3330), and the guide block (3340).

[0179] According to the present disclosure, an arm massage actuator (3320) is connected to a support member (3200) at one end and to an arm massage provider (3100) at the other end. As the arm massage provider actuator (3320) expands, the arm massage provider (3100) can move relative to the support member (3200). The arm massage provider actuator (3320) provides a moving force that directly moves the arm massage provider (3100) relative to the support member (3200).

[0180] In order for the movement of the arm massage provider (3100) to be performed along a movement path parallel to the stretching direction of the arm massage provider actuator (3320), the arm massage provider actuator (3320) may be connected parallel to the movement direction of the arm massage provider (3100), for example, the inclined movement direction.

[0181] According to one embodiment of the present disclosure, the arm massage actuator (3320) is disposed inside the arm massage providing unit (3100).

[0182] The arm massage actuator (3320) is disposed inside one of the arm massage provider (3100) and the supporter (3200), and is connected to the other of the arm massage provider (3100) and the supporter (3200) via the support plate (3310). Through this, the arm massage actuator (3320) can be connected to both the arm massage provider (3100) and the supporter (3200).

[0183] The support plate (3310) supports the movement of the arm massage providing unit (3100) relative to the support unit (3200) by physically connecting an arm massage providing unit actuator (3320) disposed inside one of the arm massage providing unit (3100) and the support unit (3200) to the other of the arm massage providing unit (3100) and the support unit (3200) that are positioned apart from each other.

[0184] According to one embodiment of the present disclosure, the support plate (3310) may include a lower portion (3311) fixed to the support portion (3200), and an upper portion (3312) extending upward from the lower portion (3311) and positioned inside the arm massage providing portion (3100).

[0185] The arm massage actuator (3320) is positioned adjacent to the lower surface (3107) inside the arm massage providing unit (3100) and has one side connected to the support plate (3310). The other side of the arm massage actuator (3320) is connected to the arm massage providing unit (3100).

[0186] According to one embodiment of the present disclosure, the lower portion (3311) of the support plate (3310) is illustrated as being fixed to the interior of the support member (3200), but is not limited thereto. For example, it may be a portion fixed to the upper surface (3210) of the support member (3200).

[0187] The support plate (3310) extends through the second through hole (3212) formed on the upper surface (3210) of the support portion (3200) and the first through hole (3107a) formed on the lower surface (3107) of the arm massage provider (3100). The first through hole (3107a) formed on the lower surface (3107) of the arm massage provider (3100) forms a path along which the arm massage provider (3100) moves relative to the support plate (3310), and thus extends in the longitudinal direction with a sufficient length so that the support plate (3310) does not interfere with the arm massage provider (3100).

[0188] According to one embodiment of the present disclosure, the lower part (3311) of the support plate (3310) can be extended and fixed into the interior of the support part (3200). The lower frame (3204) is fixed to the body of the support part (3200), i.e., the lower body (3202) formed as an injection molded material, and the lower part (3311) of the support plate (3310) is fixed to the lower frame (3204). This configuration can help assemble the arm massage part (3000), including assembling the support plate (3310), and the support plate (3310) to support the load of the arm massage providing part (3100).

[0189] The upper portion (3312) of the support plate (3310) can be supported to be relatively movable on the arm massage provider (3100). According to one embodiment of the present disclosure, the support plate (3310) can be supported to be relatively movable on the arm massage provider (3100), specifically, the guide rail (3330).

[0190] One end of the arm massage actuator (3320) can be fixed to the support plate (3310). A first bracket (3315) to which one end of the arm massage actuator (3320) is connected is provided on one side of the upper portion (3312) of the support plate (3310).

[0191] The arm massage actuator (3320) is extended and arranged at an angle parallel to the movement path of the arm massage provider (3100), and the other end of the arm massage provider actuator (3320) is fixed to the arm massage provider (3100). The arm massage provider (3100) has an upper frame (3104) fixed to a body formed of an injection molded material, i.e., an upper body (3102), and the other end of the arm massage provider actuator (3320) is fixed to the upper frame (3104). The upper frame (3104) is provided with a second bracket (3105) to which the other end of the arm massage provider actuator (3320) is connected.

[0192] When the arm massage actuator (3320) operates, the load (3323) is withdrawn, and the arm massage actuator (3320) extends with respect to the support plate (3310) to which one end is fixed, and the other end of the arm massage actuator (3320) fixed to the second bracket (3105) pulls the arm massage provider (3100). This provides a moving force for the arm massage provider (3000) to tilt. Accordingly, the arm massage provider (3100) can tilt along the extension direction of the arm massage provider actuator (3320). Since the support plate (3310) is fixed to the support portion (3200), the arm massage provider (3100) moves with respect to the support portion (3200).

[0193] According to one embodiment of the present disclosure, a guide rail (3330) is disposed on an arm massage providing unit (3100) and is connected to one side of an arm massage providing unit actuator (3320) so as to be relatively movable. The guide rail (3330) guides the relative movement of the arm massage providing unit (3100) with respect to the support unit (3200).

[0194] The guide rail (3330) is extended and fixed adjacent to the first through hole (3107a) of the lower surface (3107) inside the arm massage providing unit (3100). The guide rail (3330) is arranged parallel to the extension direction of the arm massage providing unit actuator (3320) and the movement direction of the arm massage providing unit (3100).

[0195] The second bracket (3105) to which the other end of the arm massage actuator (3320) is coupled is positioned at the rear side of the guide rail (3330) and spaced apart from the guide rail (3330).

[0196] Since one side of the arm massage actuator is connected to the guide rail (3330) so as to be relatively movable, for example, when the arm massage actuator (3320) extends, the other side of the arm massage actuator (3320) moves in a direction in which the length increases with respect to one side, and the arm massage providing unit (3100) moves together with the guide rail (3330) with respect to one side of the arm massage actuator (3320).

[0197] According to one embodiment of the present disclosure, one side of the arm massage actuator (3320) is connected to the guide rail (3330) via the support plate (3310). However, the present invention is not limited thereto, and for example, the support plate (3310) may be fixed to a body located on one side of the arm massage actuator (3320), and the other end of the arm massage actuator (3320) may be directly connected to the guide rail (3330) so as to be relatively movable.

[0198] Referring to the drawing, an embodiment is described in which one side of the arm massage actuator (3320) is connected to a guide rail (3330) via a support plate (3310).

[0199] One side of the arm massage actuator (3320) is placed on one surface of the upper part (3312) of the support plate (3310), and one end is connected by the first bracket (3315). The guide rail (3330) is placed on the other surface of the support plate (3310).

[0200] A guide block (3340) is coupled to the other surface of the support plate (3310) facing the guide rail (3330).

[0201] A guide block (3340) coupled to a support plate (3310) guides the movement of a guide rail (3330). To this end, the guide block (3340) is fitted such that the guide rail (3330) can move relative to it. Accordingly, the guide rail (3330) can move while being supported by the guide block (3340).

[0202] The guide block (3340) is formed to be fitted into the rail projections (3331) protruding from the upper and lower portions of the guide rail (3330) toward the support plate (3310). The guide block (3340) is formed by the upper guide block and the lower guide block forming one guide block unit.

[0203] The guide block (3340) can be formed in a form in which an upper guide block and a lower guide block are connected to be fitted to the upper and lower parts of the guide rail (3330), in which case one guide block (3340) forms one guide block unit.

[0204] When the guide blocks are formed separately to form upper and lower guide blocks, it is advantageous to place the guide blocks (3340) according to the design of the guide rail (3330) and assembly is easy. The guide blocks (3340) can be fixed to the other surface of the support plate (3310) with a fastening member.

[0205] According to one embodiment of the present disclosure, one or more guide block units are arranged on a guide rail and spaced apart from each other along the length of the guide rail.

[0206] Referring to Fig. 10, it can be seen that four guide blocks (3340) form two guide block units and are spaced apart along the length direction of the guide rail (3330). When at least two guide block units are provided, it can be advantageous in preventing shaking by maintaining the support plate (3310) and the guide rail (3330) parallel to each other even when a lateral load is applied to the arm massage provider (3100).

[0207] In addition, since the guide block (3340) is fitted into the guide rail (3330), the arm massage providing unit (3100) to which the guide rail (3330) is coupled can be stably supported by the support plate (3310) and the support unit (3200) to which the support plate (3310) is fixed.

[0208] According to one embodiment of the present disclosure, when the arm massage actuator (3320) is extended by the motor driving the load (3323) in the arm massage actuator (3320), the guide rail (3330) moves while supporting the arm massage provider (3100). The guide rail (3330) moves while being supported by the guide block (3340) of the support plate (3310). That is, when the arm massage actuator (3320) is extended, the guide rail (3330) moves, guiding the movement of the arm massage provider (3100).

[0209] The arm massage actuator (3320) is controlled by the control unit (300). In addition, the arm massage actuator (3320) may be equipped with an encoder that detects the rotation of the motor. Accordingly, the control unit (300) can detect and control the extension and contraction length, speed, etc. of the arm massage actuator (3320).

[0210] The movement of the arm massage provider (3100) is determined by the extension direction of the arm massage provider actuator (3320) and the extension direction of the guide rail (3330), and the arm massage provider (3100) can be supported by the connection between the guide rail (3330) and the support plate (3310). Since the support plate (3310) supports the load of the arm massage provider (3100), the load can be distributed even when the support member (3200) does not directly contact the arm massage provider (3100), or even when it does directly contact the arm massage provider (3100). Accordingly, the load of the arm massage provider (3100) is fully applied between the upper surface (3210) of the support member (3200) and the lower surface (3107) of the arm massage provider (3100), and noise and appearance damage can be minimized compared to a case where the movement is guided by direct contact.

[0211] The arm massage unit (3000) according to the present invention includes a first arm massage unit (3000a) arranged on one side of the body massage unit and a second arm massage unit (3000b) arranged on the other side of the body massage unit (see FIG. 3).

[0212] The movement of the first arm massage providing unit (3100a) relative to the first support unit (3200a) in the first arm massage unit (3000a) and the movement of the second arm massage providing unit (3100b) relative to the second support unit (3200b) in the second arm massage unit (3000b) are performed by arm massage unit drive modules, e.g., arm massage unit actuators, provided in each of the first arm massage unit (3000a) and the second arm massage unit (3000b), and thus move independently of each other. Accordingly, the first arm massage providing unit (3100a) and the second arm massage providing unit (3100b) can move in opposite movement directions or move at different movement distances to perform specific operations in the stretching mode or the massage mode.

[0213] The independent behavior, i.e., movement control, of the arm massage providing unit (3100) according to the present invention enables the performance of various massage modes or stretching modes.

[0214] The movement of the arm massage providing unit (3100) with respect to the support unit (3200) is individually performed by an arm massage providing unit drive module (3300), for example, an arm massage providing unit actuator (3320), which movably connects the support unit (3200) and the arm massage providing unit (3100). In addition, the arm massage providing unit (3100) is not mechanically connected to the back unit (1000a), the seat unit (1000b), and the leg massage providing unit (2000) because its movement is restricted. For example, the arm massage providing unit (3100) may be formed so as to be movably connected to the support unit (3200) and not directly connected to the back unit (1000a), the seat unit (1000b), and the leg massage providing unit (2000). Accordingly, the movement of the arm massage providing unit (3100) in the arm massage unit (3000) can be performed individually, regardless of the angle adjustment of the back (1000a) by the isometric actuator (1630), i.e., isometric angle adjustment, the angle adjustment of the seat unit (1000b) by the seat angle actuator (1620), i.e., seat angle adjustment, and the leg angle adjustment by the leg angle actuator (1640).

[0215] Accordingly, as an example of an action in the stretching mode, the air cell (3112) of the arm receiving groove (3110) can expand to secure the user's arm. In this state, when the back (1000a) rotates backward and downward while changing the posture to the reclining mode, the user's arm can remain fixed in the arm receiving groove (3110). As a result, the user's back is separated from the back (1000a) and the arm is pulled. This enables an arm stretching action.

[0216] After the arm stretching motion has been performed for a predetermined period of time, the arm massage provider (3100) moves backward and downward with respect to the support provider (3200), i.e., the arm massage provider (3100) moves from the first position to the second position, so that the user's back can be leaned against the back portion (1000a) again. In the reclining mode of the back portion (1000a), the user's shoulders are lowered, so that the user's arms move to a lower position in addition to the backward movement, resulting in an overall comfortable position.

[0217] According to the present invention, the arm massage actuator (3320) moves independently without being mechanically constrained by leg angle adjustment, back seat angle, and / or seat angle adjustment, so the above-described operation is possible.

[0218] In addition, according to one embodiment of the present disclosure, the movement of the arm massage providing unit (3100) with respect to the support unit (3200) can operate independently to implement various operation modes in conjunction with the length and angle adjustment movements of the first leg massage unit (2000a) and the second leg massage unit (2000b). For example, when implementing a walking mode in which the first leg massage unit (2000a) and the second leg massage unit (2000b) of the leg massage unit (2000) are adjusted in length to different degrees and the leg angles to different degrees, the first arm massage providing unit (3100a) and the second arm massage providing unit (3100b) can individually move in conjunction with the movements of the first leg massage unit (2000a) and the second leg massage unit (2000b) to implement an operation more suitable for the walking mode.

[0219] Fig. 11 is a drawing for explaining the sensor part of the arm massage part of the massage device according to the present invention.

[0220] According to one embodiment of the present disclosure, the arm massage providing unit (3100) of the arm massage unit (3000) may be provided with sensors (3401, 3402, 3403) to prevent safety accidents caused by the operation of the arm massage providing unit (3100) or another part of the massage device (100), such as the operation of the body massage unit (1000).

[0221] When the arm massage providing unit (3100) moves relative to the body massage providing unit (1000), a trapping accident may occur between the arm massage providing unit (3100) and the body massage providing unit (1000) and / or the support unit (3200). A trapping accident may occur when an object such as the user's body or clothing becomes trapped between the arm massage providing unit (3100) and another part.

[0222] Additionally, when the arm massage providing unit (3100) of the arm massage unit (3000) moves backward, a collision accident with the arm massage providing unit (3100) may occur.

[0223] To detect this, sensors are placed on at least one or all of the back (3106), the lower surface (3107), and the front surface (3108) of the arm massage provider (3100).

[0224] According to one embodiment of the present disclosure, the sensor may be an electrostatic sensor.

[0225] A first sensor (3401) is positioned on the inside of the upper body (3102) at the rear (3106) of the arm massage provider (3100). The first sensor (3401) may be formed as an electrostatic sensor as a contact detection sensor that detects contact with an object to prevent collision accidents.

[0226] The first sensor (3401) is extended in a folded form corresponding to the rib so as not to interfere with the rib for reinforcing the upper body (3102), and can be placed in contact with the rear surface (3106) of the arm massage providing unit (3100) on the inside of the upper body (3102). Despite the formation of the rib for reinforcing the arm massage providing unit (3100), it is possible for the first sensor (3401) to be placed in contact with the inner surface of the rear surface (3106).

[0227] The first sensor (3401) detects contact with an object at the rear (3106) of the arm massage providing unit (3100) to prevent accidents caused by collisions. When the arm massage providing unit (3100) moves downward relative to the support unit (3200), if an object is present in that area, the first sensor (3401) detects static electricity on the object, and the massage device (100) can stop operation and output a warning sound.

[0228] The second sensor (3402) is arranged to detect an object being caught between the inclined surface forming the lower surface (3107) on the rear side of the arm massage provider (3100) and the inclined surface forming the upper surface of the support portion (3200). The second sensor (3402) may be formed as an electrostatic sensor. The second sensor (3402) is arranged in contact with the lower surface (3107) on the inner side of the upper body (3102) of the arm massage provider (3100). The second sensor (3402) may be arranged on the rear part of the lower surface (3107) of the arm massage provider (3100). When the arm massage provider (3100) moves downwardly with respect to the support portion (3200), the sensor detects an object being caught between the inclined surface of the arm massage provider (3100) and the support portion (3200) along the movement path of the arm massage provider (3100). The second sensor (3402) may be extended in a folded form corresponding to the rib so as not to interfere with the rib for reinforcing the upper body (3102), similar to the first sensor (3401). Accordingly, even though the rib for reinforcing is formed on the lower surface (3107) of the arm massage provider (3100), it is possible for the second sensor (3402) to be placed in contact with the inner side of the lower surface (3107).

[0229] The third sensor (3403) is arranged to detect an object being caught between the inclined surface forming the lower surface (3107) on the front side of the arm massage provider (3100) and the inclined surface forming the upper surface of the support portion (3200). The third sensor (3403) may be formed as an electrostatic sensor. The third sensor (3403) is arranged in contact with the lower side of the front surface (3108) inside the upper body (3102) of the arm massage provider (3100). When the arm massage provider (3100) moves upwardly with respect to the support portion (3200), the third sensor detects an object being caught between the inclined surface of the arm massage provider (3100) and the support portion (3200) along the movement path of the arm massage provider (3100).

[0230] FIG. 12 is a drawing for explaining a joint between an arm massage unit and a body massage unit in a massage device according to the present invention, and FIG. 13 is a drawing for explaining a joint structure and assembly method of the joint unit illustrated in FIG. 12, wherein (a) of FIG. 12 illustrates a front joint unit, (b) of FIG. 12 illustrates a middle joint unit, and (c) of FIG. 12 illustrates a rear joint unit.

[0231] According to one embodiment of the present disclosure, the arm massage unit (3000) is positioned on the side of the body massage unit (1000) in such a way that the support unit (3200) is coupled to the side of the frame of the body massage unit (1000). The frame of the body massage unit (1000) may be a base frame (1300).

[0232] The joint between the support member (3200) and the body massage member (1000), for example, the base frame (1300), includes a front joint member (P1, P2), a middle joint member (P3), and a rear joint member (P4).

[0233] Referring to (a) of FIG. 12 and FIG. 13, the front joints (P1, P2) are formed on the front side of the base frame (1300).

[0234] The base frame (1300) has a connecting frame (1302) on the front side, and the connecting frame (1302) extends upward. The connecting frame (1302) can form a side of the frame of the body massage unit (1000).

[0235] First and second fasteners (1303, 1304) protrude from the front side of the frame of the body massage unit (1000), for example, the base frame (1300). The first fastener (1303) forms a P1 front-side joint and is formed to protrude forward from the upper portion of the joint frame (1302). The second fastener (1304) forms a P2 front-side joint and is formed to protrude forward and spaced apart from the lower side of the first fastener (1303).

[0236] On the inner surface (3203) of the support member (3200), fastening holes for bolt fastening are formed corresponding to the positions of the first and second fastening holes (1303, 1304). The bolts are fastened in a state where the first and second fastening holes (1303, 1034) and the fastening holes are aligned, and assembly of the front joints (P1, P2) is performed.

[0237] Since the front joint (P1, P2) is exposed to the outside from the front side of the massage device (100), bolt fastening can be easily performed.

[0238] Referring to (b) of FIG. 12 and FIG. 13, the intermediate joint (P3) can be formed in the middle side of the frame of the body massage unit (1000), for example, the base frame (1300).

[0239] A first insertion bracket (1310) is provided on a support axis frame (1320) formed on a side of a frame of a body massage unit (1000), for example, on a side middle portion of a base frame (1300), toward an inner surface (3203) of a support unit (3200). Correspondingly, a coupling protrusion (3205) protrudes from the middle portion of the inner surface (3203) of the support unit (3200).

[0240] The first insertion bracket (1310) provided on the support shaft frame (1320) has a first coupling groove (1311) with an open upper end. The opening of the first coupling groove (1311) is tapered so that the opening becomes wider as it goes toward the upper end. Both side surfaces of the first insertion bracket (1310) are bent toward the support shaft frame (1320) of the base frame (1300). As a result, the first insertion bracket (1310) is formed in a pocket shape in which the outer end of the coupling protrusion (3205) formed on the middle portion of the inner surface of the support portion (3200) is received therein.

[0241] The coupling protrusion (3205) is formed to protrude in the middle of the inner surface of the support member (3200) corresponding to the first insertion bracket (1310) and is inserted into the first coupling groove (1311).

[0242] The engaging projection (3205) forms a concave valley portion (3205a) at the portion that is fitted into the first engaging groove (1311). Therefore, when the engaging projection (3205) is placed in the opening of the first engaging groove (1311) of the first insertion bracket (1310), the engaging projection (3205) is guided to the first engaging groove (1311), and the valley portion (3205a) engages the inside of the first engaging groove (1311).

[0243] Referring to (c) of FIG. 12 and FIG. 13, the rear joint (P4) is formed adjacent to the intermediate joint (P3) and lower on the rear side than the intermediate joint (P3).

[0244] The rear joint (P4) is formed toward the rear from the middle of the inner surface (3203) of the base frame (1300) and the support (3200) of the body massage unit (1000), and is referred to as the rear joint (P4) because a tool is inserted from the rear of the massage device (100) to perform the final fixing.

[0245] The rear coupling portion (P4) includes a fastening member (1315) and a second insertion bracket (3206) to which the fastening member (1315) is coupled.

[0246] A rear fastening hole (1322) is formed on the lower rear side of the support axis frame (1320) of the frame of the body massage unit (1000), for example, the base frame (1300), and a fastening member (1315) is coupled to the rear fastening hole (1322).

[0247] The fastening member (1315) may include a fastening portion (1315a), an expanding portion (1315b), and a head (1315c). The fastening portion (1315a) is screw-fastened to the rear fastening hole (1322).

[0248] The fastening member (1315) has a first fastening depth in which the fastening portion (1315a) is loosely fastened to the rear fastening hole (1322), and a second fastening depth in which the fastening portion (1315a) is tightened to the rear fastening hole (1322).

[0249] A second insertion bracket (3206) protrudes from the middle of the inner surface (3203) of the support portion (3200) and below the rear side of the coupling protrusion (3205). The second insertion bracket (3206) protrudes so as to extend across the inner surface (3203) of the support portion (3200) and has a second coupling groove (3206a) into which a fastening member (1315) is inserted.

[0250] The second coupling groove (3206a) of the second insertion bracket (3206) is formed with a different opening direction compared to the first coupling groove (1311) of the first insertion bracket (1310). The first coupling groove (1311) of the first insertion bracket (1310) is opened upward, and the second coupling groove (3206a) of the second insertion bracket (3206) is opened downward.

[0251] The opening of the second coupling groove (3206a) of the second insertion bracket (3206) is formed so that the coupling portion (1315a) of the coupling member (1315) is guided toward the inside of the second coupling groove (3206a). The inner groove of the second coupling groove (3206a) is formed to correspond to the expanded portion (1315b) of the coupling member (1315).

[0252] When the fastening member (1315) is loosely assembled to the first fastening depth, the fastening portion (1315a) is inserted into the inner groove of the second coupling groove (3206a) of the second insertion bracket (3206) and is loosely assembled. Thereafter, when the fastening member (1315) is tightened to the second fastening depth, the expanded portion (1315b) of the fastening member (1315) can be firmly fixed by digging into the inner groove of the second coupling groove (3206a).

[0253] To this end, a chamfer may be formed between the expanding portion (1315b) and the fastening portion (1315a) of the fastening member (1315) so as to gradually increase in diameter. Accordingly, when the fastening member (1315) is tightened from a first fastening depth state in which it is loosely pre-assembled, it becomes a second fastening depth state, and the rear joint portion (P4) is firmly fastened and shaken can be prevented.

[0254] Below, the assembly method of the support part (3200) and the base frame (1300) of the arm massage part (3000) is described.

[0255] In the massage device (100), the arm massage part (3000) is fixed to the side of the body massage part (1000). With the seat part (1000b) and the back part (1000a) assembled to the upper part of the base frame (1300), the support part (3200) can be fixed to the base frame (1300).

[0256] The P4 point, which is the rear joint, is covered by the support member (3200) and the body massage member (1000), making assembly difficult using a simple bolt fastening method. Visual confirmation of the fastening position is difficult, and alignment of the fastening position is not easy, which increases the difficulty of assembly.

[0257] According to one embodiment of the present disclosure, first, a fastening member (1315) is loosely pre-assembled into a rear fastening hole (1322) of a support shaft frame (1320) at point P4, which is a rear joint.

[0258] Afterwards, the fitting assembly of the first insertion bracket (1310) and the coupling protrusion (3205) at the intermediate joint point P3, and the fitting assembly of the second insertion bracket (3206) and the fastening member (1315) at the rear joint point P4 are performed.

[0259] At point P4, which is the rear joint, the joint position is aligned by fitting the joint member (1315) into the second joint groove (3206a) of the second insertion bracket (3206). Thereafter, fixation can be achieved at point P4 by tightening the joint member (1315) using a long tool from the rear of the massage device (100). At this time, the expanded portion (1315b) of the joint member (1315) can be firmly joined by being pressed into the second joint groove (3206a) of the second insertion bracket (3206).

[0260] Since the head (1315c) of the fastening member (1315) of the rear joint faces the rear of the massage device (100), assembly at the rear joint (P4) is completed with a simple tightening operation using a long tool.

[0261] Afterwards, bolts are fastened through the first and second fastening holes (1303, 1304) of the base frame (1300) at the front joint points P1 and P2 to fix the support part (3200) and the front part of the base frame (1300).

[0262] According to one embodiment of the present disclosure, the assembly of the second insertion bracket (3206) and the fastening member (1315) at the rear joint point P4 is performed while being guided by the fitting of the first insertion bracket (1310) and the fastening projection (3205) at the intermediate joint point P3, so that the setting of the fastening position at the rear joint point P4, i.e., the fitting of the fastening member (1315) and the second insertion bracket (3206), is relatively easy.

[0263] In addition, at point P4, which is a rear joint that is difficult to assemble, the load due to the support member (3200) is distributed rather than concentrated on the fastening member (1315), so that tightening of the fastening member (1315) is possible, and thus tightening using a tool can be performed relatively easily.

[0264] According to the embodiment of the present invention, the structure of the arm massage unit in which the arm massage providing unit moves incliningly with respect to the support unit in the combined structure of the base frame and the arm massage unit is not limited, and can also be applied to the arm massage unit in which the arm massage providing unit and the support unit are fixed with respect to each other.

[0265]

[0266] Hereinafter, with reference to FIGS. 14 to 27, the specific configuration, processing, function, etc. of a massage device (200) according to an embodiment (hereinafter referred to as the “second embodiment”) that provides a stretching mode based on relative or combined motion of a leg massage part and an arm massage part will be described in detail.

[0267] It goes without saying that the massage device (200) described below can be applied in combination or selectively with one or more of the components included in the aforementioned massage device (100).

[0268] In addition, some of the terms and / or reference symbols referring to the massage device (200) and its sub-components according to the second embodiment described below may be different from the terms and / or reference symbols of the massage device, etc. according to the above-described embodiment.

[0269] This is due to the necessity of tools for effectively explaining the embodiment, etc., and if the corresponding technical idea can be implemented at the level of a person skilled in the art, it should be interpreted that one or more of the configurations of the embodiment described below may be the same as or equivalent to one or more of the configurations described above.

[0270] For example, the first and second arm massage units (250A, 250B) and the first and second leg massage units (230A, 230B) described in the second embodiment below correspond to the configuration corresponding to the arm massage units (3000a, 3000b) and the leg massage units (2000a, 2000b) described in the above-described embodiment, respectively, and the control unit (290) of the second embodiment corresponds to the configuration corresponding to the control unit (300) of the above-described embodiment.

[0271] In addition, in the second embodiment, the arm drive units (260A, 260B) that drive the movement of the arm massage units (250A, 250B) may correspond to the arm massage unit drive module (3300) or the arm massage unit actuator (3320) of the aforementioned embodiment, the leg drive units (240A, 240B) of the second embodiment may correspond to the leg angle actuator (1640) or / and the leg length actuator (leg length adjustment actuator) of the aforementioned embodiment, and the body drive unit (240) that changes the angle, posture, position, etc. of the body massage unit (210) may correspond to the sliding actuator (1610), the seat angle actuator (1620), or / and the equal angle actuator (1630) of the aforementioned embodiment.

[0272] As previously discussed, the leg massage unit can be composed of a pair of leg massage units (230A, 230B), and thus the leg actuator unit for adjusting the length and / or angle of the leg massage unit can also be composed of a pair of leg actuator units (240A, 240B). The arm actuator units (260A, 260B) are also similar to this.

[0273] The first leg driving unit (240A) is connected to the first leg massage unit (230A) and can adjust the length of the first leg massage unit (230A). For example, the first leg driving unit (240A) can be arranged between one end and the other end of the first leg massage unit (230A) and connect the one end and the other end of the first leg massage unit (230A). The first leg driving unit (240A) provides a length-adjusting driving force to the first leg massage unit (230A) to adjust the length between the one end and the other end of the first leg massage unit (230A), thereby adjusting the length of the first leg massage unit (230A). The second leg driving unit (240B) is also the same.

[0274] The first leg driving unit (240A) is connected to the first leg massage unit (230A) and can adjust the angle of the first leg massage unit (230A). For example, the first leg driving unit (240A) can be placed between the rear of the first leg massage unit (230A) and the body massage unit (210) to connect the first leg massage unit (230A) and the body massage unit (210). The first leg driving unit (240A) can adjust the angle of the first leg massage unit (230A) by pushing or pulling the first leg massage unit (230A) from the rear to rotate (or tilt) the first leg massage unit (230A) clockwise and / or counterclockwise.

[0275] As described above, the first leg driving unit (240A) is positioned between the rear of the first leg massage unit (230A) and the body massage unit (210) to connect the first leg massage unit (230A) and the body massage unit (210), but is not limited thereto.

[0276] For example, the first leg driving unit (240A) may be positioned at various locations (e.g., the side of the first leg massage unit (230A), the rotation hinge axis of the first leg massage unit (230A), between the first leg massage unit (230A) and the main frame (1100), the rear of the first leg massage unit (230A), etc.) that can rotate the first leg massage unit (230A) clockwise and / or counterclockwise. It goes without saying that the above-described contents of the first leg driving unit (240A) may be equally applied to the second leg driving unit (240B).

[0277] It is self-evident that terms such as upper, lower, front, rear, vertical, horizontal, etc. used in the following description are only intended to present relative standards for describing embodiments of the present invention, and are not intended to specify any direction or position in absolute terms, and may of course vary relatively depending on the position of the target object, the position or direction of view, etc.

[0278] Hereinafter, embodiments of the present invention will be described with the Z-axis direction (see FIGS. 26 and 27) as the reference direction of up-down or vertical, the X-axis direction as the reference direction of front-back, and the Y-axis direction as the reference direction of left or right. For example, a positive Z-axis direction corresponds to an upward, upward, upward, or corresponding direction, and a negative Z-axis direction corresponds to a downward, downward, downward, or corresponding direction.

[0279]

[0280] FIGS. 14 to 16 are block diagrams showing a detailed configuration of a massage device (200) according to one embodiment of the present invention, and FIG. 17 is a flowchart explaining the overall processing process of the present invention.

[0281] As illustrated in FIG. 14, the massage device (200) of the present invention may include one or more of a body massage unit (210), a body driving unit (220), a leg massage unit (230A, 230B), a leg driving unit (240A, 240B), an arm massage unit (250A, 250B), an arm driving unit (260A, 260B), and a control unit (290).

[0282] Figures 14 to 16 are block diagrams of a massage device (200) for mainly explaining a second embodiment of the present invention. Therefore, it goes without saying that the massage device (200) of the present invention may additionally include other configurations described in the aforementioned embodiments in addition to the configurations illustrated in Figures 14 to 16, depending on the embodiment.

[0283] The components of the massage device (200) illustrated in FIG. 14 may be physically distinct components, but may also be functionally or logically distinct components.

[0284] That is, since each component illustrated in the above drawing corresponds to a component for effectively explaining the technical idea of ​​the present invention, even if each component is configured integrated or separated, if the function performed by the configuration of the present invention can be realized, it should be interpreted as being within the scope of the present invention, and of course, if it is a component that performs the same or similar function, it should be interpreted as being within the scope of the present invention regardless of whether or not the name is consistent.

[0285] In addition, the control of the massage device according to the present invention can be implemented as a set or algorithm of processing related to data processing, handling, control, calculation, input / output, etc., and thus can be implemented in the form of software that is installed and operated in a device, computer (or a device equivalent thereto), module, or sub-component thereof.

[0286] The first leg massage unit (230A), which is a component of the massage device (200) according to the present invention, may be placed below the body massage unit (210) that massages at least a portion of the user's body. The second leg massage unit (230B) may also be placed below the body massage unit (210), and may be placed basically parallel to the first leg massage unit (230A) so as to conform to the human body structure.

[0287] The first arm massage unit (250A), which is a component of the massage device (200) according to the present invention, can be placed on the side of the body massage unit (210) and is placed at a position corresponding to the first leg massage unit (230A). The first arm massage unit (250A) can be configured to receive the user's arm (left arm or right arm) and perform various types and methods of massage movements on the received arm.

[0288] The second arm massage part (250B) is positioned on the side of the body massage part (210), specifically, on the opposite side to the first arm massage part (250A), so as to conform to the human body structure, and is positioned corresponding to the second leg massage part (230B).

[0289] If the first arm massage unit (250A) and the first leg massage unit (230A) are configured to massage the user's left arm and left leg areas, respectively, the second arm massage unit (250B) and the second leg massage unit (230B) may be configured to massage the user's right arm and right leg areas, respectively.

[0290] The first leg driving unit (240A) of the present invention may be configured to perform a function of rotating or moving the first leg massage unit (230A) in two or more directions or expanding and contracting the first leg massage unit (230A) according to a user input signal, an internal algorithm for determining whether a preset condition is satisfied, or the specifications, function, etc. of the first leg massage unit (230A).

[0291] To this end, the first leg driving unit (240A) of the present invention may include a first leg length adjusting unit (240AL) and a first leg rotation unit (240AR), as specifically illustrated in FIG. 15, and the second leg driving unit (240B) of the present invention may include a second leg length adjusting unit (240BL) and a second leg rotation unit (240BR).

[0292] That is, the first leg massage part (230A) can be adjusted in length forward or backward by the first leg length adjustment part (240AL), and can be configured to rotate in two or more directions by the first leg rotation part (240AR).

[0293] Since the second leg drive unit (240B) can correspond to the first leg drive unit (240A) in terms of function, operation, control, etc., the above-described contents regarding the first leg drive unit (240A) can also be applied to the second leg drive unit (240B).

[0294] The first arm drive unit (260A) of the present invention may be configured to perform a function of moving the first arm massage unit (250A) forward or backward according to a user input signal, an internal algorithm that determines whether a preset condition is met, or the specifications, function, etc. of the first arm massage unit (250A). The second arm drive unit (260B) is also similar to this.

[0295] The first and second leg massage units (230A, 230B) and the first and second arm massage units (250A, 250B) of this embodiment can correspond in detailed configuration to the arm massage units (3000a, 3000b) and the leg massage units (2000a, 2000b) described in the above-described embodiment, and therefore, detailed contents regarding the structure, operation, control, etc. thereof are replaced by the description described above. The first and second leg driving units (240A, 240B) and the first and second arm driving units (260A, 260B) of this embodiment are also the same.

[0296] The body driving unit (220) of the present invention can be configured to adjust or change the position, posture, or angle of the body massage unit (210) according to a user input signal, an internal algorithm that determines whether a preset condition is met, or the specifications, functions, etc. of the body massage unit (210).

[0297] According to the embodiment, the body driving unit (220) can change the position, posture, etc. of the body massage unit (210) so that the body massage unit (210) tilts forward so that the ease and safety of the process of the user leaving the massage device (200) can be improved.

[0298] In addition, the body drive unit (220) can change the position, posture, etc. of the body massage unit (210) so that the body massage unit (210) tilts backward (recline mode) to provide a more comfortable posture to the user or to secure sufficient space for movement, rotation, etc. of the leg massage unit (230A, 230B) and to prevent safety accidents, etc.

[0299] As previously discussed, the body drive unit (220) of the present invention can slide the body massage unit (210) forward or backward, and can be designed to be controlled by the control unit (290) of the present invention.

[0300] A massage device (200) according to one embodiment of the present invention includes first and second leg massage parts (230A, 230B) in which at least one of length adjustment (or longitudinal movement) and angle (or rotation, pivot) adjustment is performed, and first and second arm massage parts (250A, 250B) in which forward and backward movement is performed, respectively. Therefore, by combining the length or angle adjustment and movement or position adjustment, etc. of these, it is possible to provide the user with various types and methods of operation modes (hereinafter referred to as 'stretching modes'). Here, "operation" may mean position movement, rotation (tilting, pivoting), length change, etc.

[0301] In particular, the massage device (200) according to the present invention can drive the leg massage unit (230A, 230B) and the arm massage unit (250A, 250B) in a form corresponding to the body structural change in which the arms and legs are twisted with each other through the combinatorial application of these configurations (hereinafter referred to as 'twist mode').

[0302] Since the user's legs and arms are respectively accommodated in the leg massage section (230A, 230B) and the arm massage section (250A, 250B), such actuation of the leg massage section (230A, 230B) and the arm massage section (250A, 250B) can induce physical activity in the form of actual twisting of the user's arms and legs.

[0303] The term “mode” in the following description is a term of a tool concept used for the efficiency of explanation and understanding, and may correspond to a term used to relatively distinguish various actions (or a series of actions) provided to a user through control of a massage device (200) according to the present invention or a control unit (290) that is a component of the massage device (200) from other actions (or a series of actions).

[0304] The control unit (290) of the present invention can control the massage device (200) to perform a preliminary operation mode (pre mode) in which, prior to the initiation of the stretching mode, a light intensity massage is performed on the arms, legs, body, neck, spine, etc. to relieve tension, relax muscles, expand the range of motion, promote stability, and increase joint flexibility (S110) when a signal to initiate the stretching mode, etc. is input from a user or a set condition for initiating the stretching mode, etc. is met (S100).

[0305] When the standby operation mode is established or the standby operation mode is terminated, the massage device (200) can change from the basic posture (standby posture) to a reclining posture that is tilted backward.

[0306] In the preparatory mode, massages focusing on the erector spinae muscles from the cervical spine to the coccyx or acupressure stimulation massages can be performed. Additionally, this mode can be used to sequentially or randomly massage the shoulders, arms, and calves using air cells, or roller massages targeting areas such as the soles of the feet.

[0307] When the preliminary operation mode is terminated, the control unit (290) of the present invention can control the massage device (200) to operate at least one of the leg massage unit (230A, 230B) and the arm massage unit (250A, 250B) to achieve a stretching mode, etc. (S120).

[0308] The control unit (290) of the present invention controls the forward movement of at least one of the first arm massage unit (250A) and the second arm massage unit (250B) and the length increase of at least one of the first leg massage unit (230A) and the second leg massage unit (230B) to be linked to drive the stretching mode. Details of the stretching mode and the like according to an embodiment of the present invention will be described later.

[0309] The control unit (290) of the present invention can control the output of guidance information at the time when the preliminary operation mode ends in order to increase user convenience, predictability, etc.

[0310] According to the embodiment, when the number of times the stretching mode, etc. has been performed reaches a reference number or a stop signal, etc. is input from a user, etc. (S130), the control unit (290) of the present invention can control the massage device (200) to terminate the stretching mode, etc. and provide a light intensity massage or perform a finishing operation mode (post mode), such as the arm massage unit (250A, 250B) or / and the leg massage unit (230A, 230B) lightly moving up and down or forward and backward (within a small angle, a small movement range, etc.) or rotating (S140).

[0311] For example, in the finishing motion mode, acupressure stimulation massage based on a massage module focusing on the erector spinae muscles from the cervical spine to the sacrum, air cell massage through sequential or random expansion and / or contraction of air cells of the shoulders, arms, and calves, and foot roller massage can be provided.

[0312] In addition, in the finishing operation mode, the control unit (290) of the present invention can control the posture of the massage device (200) to return or change from the recline posture to a standby posture or a default posture.

[0313] As illustrated in FIG. 16, the massage device (200) of the present invention may include one or more air cells among a first leg air cell (231A) provided in a first leg massage unit (230A), a second leg air cell (231B) provided in a second leg massage unit (230B), a first arm air cell (251A) provided in a first arm massage unit (250A), a second arm air cell (251B) provided in a second arm massage unit (250B), and a shoulder air cell (211) provided at a position corresponding to a user's shoulder area.

[0314] The control unit (290) can operate one or more of the air cells described above while performing at least one of the preparatory operation mode, stretching mode, and finishing operation mode to further enhance or concentrate the effect of stretching, etc., or to prevent safety accidents or injuries.

[0315] For example, the control unit (290) can control one or more of the air cells to expand or contract selectively or in a time series manner based on the movement or rotational motion of the arm massage unit (250A, 250B) or / and the leg massage unit (230A, 230B). A specific embodiment thereof will be described later.

[0316]

[0317] Fig. 18 is a flowchart explaining a processing process according to one embodiment of the present invention, and Fig. 19 is a drawing explaining a preparatory operation according to one embodiment of the present invention.

[0318] The control unit (290) of the present invention controls the movement of one of the first arm massage unit (250A) or the second arm massage unit (250B) moving forward (hereinafter referred to as the 'first movement') and the movement of increasing the length of the leg massage unit (230A) and the second leg massage unit (230B) positioned at a position crossing the arm massage unit where the first movement is performed (hereinafter referred to as the 'second movement') to be linked (S210).

[0319] For example, the control unit (290) of the present invention can control the motion of moving the left arm massage unit forward (first motion) and the motion of increasing the length of the right leg massage unit (second motion) to be linked together, and can control the motion of moving the right arm massage unit forward (first motion) and the motion of increasing the length of the left leg massage unit (second motion) to be linked together.

[0320] When the first arm massage part (250A) moves forward, for example, the left arm area accommodated in the first arm massage part (250A) is pulled forward, thereby providing the effect of stretching the left arm area by applying a stretching force due to tension to the left arm area.

[0321] In addition, when the length of the second leg massage part (230B) positioned at a position crossing the first arm massage part (250A) increases, for example, the right leg part accommodated in the second leg massage part (230B) is pulled forward, thereby applying a stretching force to the right leg part, thereby providing an effect of stretching the right leg part. In this respect, the twist mode, which is a mode in which the movements of one arm and the other leg are linked, can be considered a type of stretching mode.

[0322] The control unit (290) of the present invention can control the movement of at least one of the first and second arm massage units (250A, 250B) moving forward and the movement of at least one of the first and second leg massage units (230A, 230B) increasing in length to be linked.

[0323] Preferably, in the case of an embodiment in which a stretching force is applied to arms and legs (left arm and right leg, right arm and left leg) that are positioned in a cross-like position, as in the example described above, the range of motion of the arms and legs can be expanded due to the body structure, so that stretching of arm muscles (such as upper arm and forearm muscles) and leg muscles (such as thigh muscles and gastrocnemius muscles) can be implemented more effectively, and blood flow to the arms and legs can be relatively increased, so that it can also provide an effect of alleviating or improving pain in joints, etc., or numbness in the arms / legs.

[0324] In order to optimize the stretching mode, etc. for the user, the speed, movement distance, movement range, etc. of the arm massage unit (250A, 250B) moving forward or backward are preferably automatically set using the physical specifications of the massage device (200), user information that can be stored in a database, measured body information of the user, etc., or are configured to be variably set using user selection information using an interface means (such as the input unit (350) described above). The stretching distance (range), stretching speed, rotation speed, rotation range (angle), etc. of the leg massage unit (230A, 203B) are also the same.

[0325] In other words, one or more of the movement distance of the arm massage part (250A, 250B) by the first movement, the extension distance of the leg massage part (230A, 230B) by the second movement, and the rotation range of the leg massage part (230A, 230B) by the third movement described below can be variably set by one or more of the user's body information, disease information, and the user's selection information.

[0326] Since the available range of the body or the location / angle of pain may vary depending on the user's characteristics, symptoms, and injured area, if the range of movement and rotation are configured to be adjusted according to the user's choice, it can have a higher user orientation.

[0327] Here, user information may be various pieces of information that can be stored in a database, such as one or more pieces of information about the user's age, gender, age, symptoms, or injured area. Furthermore, the user's body information may be information stored in a database in advance, or may be information about the user's body size measured by a measuring device equipped in the massage device (200).

[0328] According to the embodiment, an input button or the like that can select multiple distances or / and angle ranges through a GUI environment, such as an input unit (350), is provided, and the movement distance or / and rotation angle range can be variably set by the user selecting the provided interface environment, etc., and a method in which multiple selectable ranges are guided through an audio output module (1500) and variable parameters are selected through voice recognition, etc., can also be applied.

[0329] The control unit (290) of the present invention can control the expansion of the shoulder air cell (211) provided at a position corresponding to the user's shoulder area in relation to the first operation or / and the second operation.

[0330] In this way, when the shoulder air cell (211) is controlled to expand, the user's shoulder area is physically supported by the shoulder air cell (211), so that even if the arm massage part (250A, 250B) moves forward, the user's shoulder or upper body can be relatively fixed. In order to effectively implement the relative fixation of the shoulder area, the shoulder air cell (211) can be configured to have a shape that wraps around the user's shoulder area.

[0331] When the shoulder air cell (211) is controlled to expand in this way, even if the arm part moves forward, the user's upper body, especially the shoulder part, can be suppressed from moving or flowing forward together with the arm part, thereby further enhancing the stretching effect on the arm part and, in particular, providing a more effective tension effect to the entire arm part, including the wrist joint or elbow joint.

[0332] According to an embodiment, the control unit (290) of the present invention can control the shoulder air cell (211) to expand before performing the first or second operation, during performing the first or second operation, or after performing the first or second operation.

[0333] In the case where a shoulder air cell (211) having a larger capacity than air cells provided in other body parts is provided according to the embodiment, it may be desirable to control the expansion of the shoulder air cell (211) before the first and second operations are initiated so that it can be sufficiently expanded to effectively support the user's shoulder area.

[0334] In addition, in order to increase the effect of stretching, the control unit (290) of the present invention can control the expansion of the shoulder air cell (211) to be maintained for a certain period of time after the first and second operations are completed.

[0335] As described later, the control unit (290) of the present invention can control the shoulder air cell (211) to contract so that the muscles are relaxed or rested during the process of the operated massage unit being restored to the reference position (S240, see FIG. 18).

[0336] In order to further enhance the effect of stretching, etc., as illustrated in FIG. 18, the control unit (290) of the present invention can control a preparatory operation for at least one of the arm massage unit (250A, 250B), the leg massage unit (230A, 230B), and the body massage unit (210) to be performed prior to the first operation of the arm massage unit (250A, 250B) and / or the second operation of the leg massage unit (230A, 230B) (S200).

[0337] The preparatory action may include one or more of the following actions: a first preparatory action (S200A) for controlling the first and second arm massage parts (250A, 250B) to be positioned at a first reference position within the forward and backward movement range, as illustrated in FIG. 19; a second preparatory action (S200B) for controlling the posture of the body massage part (210) to be tilted backward; a third preparatory action (S200C) for setting the length of the first and second leg massage parts (230A, 230B) to the first reference length; and a fourth preparatory action (S200D) for setting the angle of the first and second leg massage parts (230A, 230B) to the first reference angle.

[0338] It is preferable that at least one of the first reference position, which is the reference position of the arm massage unit (250A, 250B), the first reference length, which is the reference length of the leg massage unit (230A, 230B), and the first reference angle, which is the reference angle of the leg massage unit (230A, 230B), is also automatically set using the physical specifications of the massage device (200), user information that can be converted to a database, measured body information of the user, etc., as described above, or be configured to be variably set using the user's selection information, etc. using an interface means (such as the input unit (350) described above).

[0339] Since the available range of the body or the location / angle of pain may vary depending on the user's characteristics, symptoms, and injured area, if the range of movement and rotation are configured to be adjusted according to the user's choice, it can have a higher user orientation.

[0340] Here, user information may be various pieces of information that can be stored in a database, such as one or more pieces of information about the user's age, gender, age, symptoms, or injured area. Furthermore, the user's body information may be information stored in a database in advance, or may be information about the user's body size measured by a measuring device equipped in the massage device (200).

[0341] In order to expand the physical range in which stretching is performed and extend the time in which stretching is performed, it may be desirable to set the first reference position to be the rearmost position based on the physical specifications or operation specifications of the arm massage part (250A, 250B).

[0342] From a corresponding viewpoint, it may be desirable that the first reference length of the leg massage part (230A, 230B) be set to be the minimum length based on the physical specifications of the leg massage part (230A, 230B), and the first reference angle of the leg massage part (230A, 230B) be set to be the minimum angle.

[0343] The first arm massage unit (250A) according to the present invention may be configured to include a support unit (3200) having an inclined shape with a lowered rearward side, and an arm massage providing unit (3100) that moves forward or backward in a direction corresponding to the inclined shape with the support unit (3200) as a relatively fixed body. The second arm massage unit (250B) is also similar to this.

[0344] Therefore, when the arm massage part (250A, 250B), specifically the arm massage providing part (3100) of the arm massage part (250A, 250B), moves forward, the position thereof rises and moves forward, and when it moves backward, the position thereof lowers and moves backward, thereby enabling the movement of the user's arm area to be implemented more three-dimensionally, and furthermore, it is possible to induce a movement that can be more organically combined with the movement of the leg massage part (230A, 230B), thereby further enhancing the effect of stretching, etc.

[0345] As mentioned above, the arm massage part is formed in a slanted shape with the rear end of the arm massage part lowered, but is not limited thereto. For example, the arm massage part may be formed in various shapes that allow the arm massage part to move forward and backward, such as a slanted shape with the rear end of the arm massage part higher, a straight shape with the front and rear ends flat, etc.

[0346] The control unit (290) of the present invention can control so that after one linked operation (linkage of the first arm massage unit (250A) and the second leg massage unit (230B)) is completed, another linked operation (the second arm massage unit (250B) and the first leg massage unit (230A)) is performed, and can also control so that one linked operation and another linked operation overlap in time to a certain extent.

[0347] However, as illustrated in FIG. 18, when the first movement of the first arm massage unit (250A) and the second movement of the second leg massage unit (230B) linked to the first movement are completed (S230), the control unit (290) of the present invention can control the first arm massage unit (250A) and the first leg massage unit (230A) to be restored to the reference position or reference length by the preparatory movement by clearly distinguishing the alternation of movements and having a rest period for a certain period of time after the movement so that tense muscles can be relaxed (S240).

[0348] According to an embodiment, the control unit (290) of the present invention can control the arm massage unit (250A, 250B) and the leg massage unit (230A, 230B) to not perform subsequent operations for a reference time (e.g., 2 to 5 seconds) after the arm massage unit (250A, 250B) and the leg massage unit (230A, 230B) are restored to a reference position or the like for a preparatory operation.

[0349] When the first arm massage part (250A) and the second leg massage part (230B) are restored to the reference position or the like (S240), the control part (290) of the present invention changes the targets of the first and second operations so that the first operation in which the second arm massage part (250B) moves forward and the second operation in which the length of the first leg massage part (230A) increases are linked (S260).

[0350] It goes without saying that the above-described processing can be configured to be applied cyclically (S250) until the number of times the stretching mode, etc. has been performed reaches a reference number or a stop signal, etc. is input from a user, etc.

[0351] In order to allow a three-dimensional and complex tension to be applied to the user's leg area, the control unit (290) of the present invention can control the leg massage unit (230A, 230B), which is the target of the second operation, that is, the operation of increasing the length of the leg massage unit (230A, 230B), to rotate downward (hereinafter referred to as the 'third operation') (S220).

[0352] In this way, when the third movement is controlled to be performed on the leg massage part (230A, 230B) of the second movement, the leg area accommodated in the leg massage part (230A, 230B) is pulled forward by the increase in the length of the leg massage part (230A, 230B), and the leg area accommodated in the leg massage part (230A, 230B) is additionally pulled downward by the downward rotation of the leg massage part (230A, 230B), so that a composite tension by a linearity element and a rotation element is applied to the leg area.

[0353] In the case of the embodiment configuration of the present invention, since the leg part can be stretched in a three-dimensional direction rather than just in one direction, the effect of stretching can be increased, and the muscles and joints that are stimulated can be changed, and the excessive concentration of one-way tension can be suppressed, so it can be effective in preventing injuries, etc.

[0354] The control unit (290) of the present invention can control the second operation, i.e., the operation of increasing the length of the leg massage unit (230A, 230B), and the third operation, i.e., the operation of rotating the leg massage unit (230A, 230B) that is the target of the second operation downward, to have a time series nature.

[0355] Although the drawing shows an embodiment in which the second operation precedes the third operation, this is only one embodiment, and the third operation may precede the second operation, and depending on the embodiment, the second and third operations may be performed together, or another operation may be initiated before the end of one operation after the other has begun.

[0356] However, in order to enhance the stretching effect by twisting, it is preferable that the control unit (290) of the present invention controls the length of the second (1) leg massage unit (230B (230A)) to first increase in a direction corresponding to the movement direction of the first (2) arm massage unit (250A (250B)) moving forward by the first operation, and then controls the third operation to be performed.

[0357] As illustrated in (a) of FIG. 23, the control unit (290) of the present invention positions the arm massage unit (250A, 250B) at the first reference position through the driving of the preparatory operation described above, sets the length of the leg massage unit (230A, 230B) to be the first reference length, and sets the angle of the leg massage unit (230A, 230B) to be the first reference angle.

[0358] When the arm massage parts (250A, 250B) are set to the ready position in this way, the control part (290) of the present invention controls the movement of the right arm massage part (250A) moving forward (first movement) and the movement of the left leg massage part (230B) increasing in length (second movement) to be linked (Fig. 23 (b)).

[0359] When the linked operation targeting the right arm massage part (250A) and the left leg massage part (230A) is completed, the control part (290) of the present invention returns the right arm massage part (250A) and the left leg massage part (230A) to the reference position, etc. (Fig. 23 (c)).

[0360] When the right arm massage part (250A) and the left leg massage part (230A) return to the reference position, etc., the control part (290) of the present invention controls the movement of the left arm massage part (250B) moving forward (first movement) and the movement of increasing the length of the right leg massage part (230A) to be linked ((d) of FIG. 23).

[0361] When the linked operation targeting the left arm massage part (250B) and the right leg massage part (230A) is completed, the control part (290) of the present invention returns the left arm massage part (250B) and the right leg massage part (230A) to a reference position or the like (Fig. 23 (a)).

[0362] As described above and illustrated in FIG. 24, the control unit (290) of the present invention can control the leg massage unit (230A, 230B), which is the target of the second operation, that is, the operation of increasing the length of the leg massage unit (230A, 230B), to rotate downward.

[0363] As an example of this, Fig. 24 illustrates a motion (third motion) in which the right leg massage part (230A) whose length increases in the motion illustrated in (d) of Fig. 23 rotates downward. As illustrated in Fig. 24, the direction (A) in which the arm massage parts (250A, 250B) move and the direction (B) in which the length of the leg massage parts (230A, 230B) positioned at a position intersecting the moving arm massage parts (250A, 250B) increase correspond to each other.

[0364]

[0365] FIG. 20 is a flowchart illustrating a processing process according to one embodiment of the present invention that implements synchronization of operations, and FIG. 21 is a drawing illustrating synchronization of the execution times of the first to third operations.

[0366] The movement in which the first and second movements described above are linked is a movement or mode in which the arm massage part and the leg massage part arranged at a crossing position are operated as a pair, and corresponds to a movement or mode in which, for example, the movement of the user's left leg (right leg) and right arm (left arm) is controlled to be linked.

[0367] The control unit (290) of the present invention controls the first operation of the first (2) arm massage unit (250A (250B)) and the second operation of the second (1) leg massage unit (230B (230A)) to be linked (S300), and can control the time required for the arm massage unit (250A, 250B) to move by the first operation to correspond to the time required for the length of the leg massage unit (230A, 230B) to increase by the second operation.

[0368] The correspondence of the required times means that the start and end times correspond, and depending on the embodiment, it may also include that one is performed earlier than the appropriate time within the margin of error or that one is finished earlier.

[0369] In this way, when the control unit (290) of the present invention controls the time for the arm massage unit (250A, 250B) to move forward by the first operation and the time for the leg massage unit (230A, 230B) to increase in length by the second operation to be substantially the same, the mutual complex movement of the arms and legs can be implemented more precisely, thereby preventing injuries and further enhancing the effects of stretching, etc.

[0370] As described in the above-described embodiment, the massage device (200) of the present invention may be equipped with sensors (3401, 3402, 3403) that detect physical contact, collision, interference, etc. with external objects (objects, people, animals, walls, etc.) to prevent safety accidents, etc. When the sensor detects an external object and outputs a corresponding signal to the control unit (290) of the present invention, the control unit (290) of the present invention may control the operation of the massage unit equipped with the sensor to be stopped.

[0371] In addition, the massage device (200) of the present invention may include a detection sensor (270) that detects force applied by a user (hereinafter referred to as 'external force').

[0372] In this case, when a detection signal in a direction opposite to the direction in which the current operation (displacement, position change, rotation, etc.) is performed is input from the detection sensor (270) during the performance of the first operation or / and the second operation, the control unit (290) of the present invention can control the first operation or / and the second operation to stop or control the speed at which the first operation or / and the second operation is performed to slow down.

[0373] When pain occurs, users may exhibit behavioral characteristics that typically involve rejecting or avoiding the current state, i.e. moving their body in the opposite direction of the current movement.

[0374] The above configuration of the present invention is a configuration that takes into account the general and universal behavioral characteristics of users, and utilizes the detection of an external force in the direction opposite to the current direction of movement as a means of interfacing, thereby enabling subsequent control, such as stopping the current operation, to be performed more quickly and nimbly.

[0375] The control unit (290) of the present invention can control one of the first and second operations to be completed or stopped when the other operation is completed or stopped.

[0376] Here, completion of the operation means that the operation of the arm massage unit (250A, 250B) or the leg massage unit (230A, 230B) is completed by a predetermined operation method, and stopping the operation includes stopping the operation by the sensor (3401, 3402, 3403) or / and the detection sensor (270) as described above.

[0377] In this way, when either the arm massage unit (250A, 250B) or the leg massage unit (230A, 230B) stops due to an emergency event, the other unit is also controlled to stop, thereby preventing injuries or safety accidents in advance.

[0378] Meanwhile, in terms of body structure, and depending on the general shape or physical specifications of the massage device (200), the range of distance that the arm massage part (250A, 250B) moves may be greater than the range or distance that the length of the leg massage part (230A, 230B) increases.

[0379] Therefore, it is possible to synchronize the operation of the arm massage parts (250A, 250B) and the leg massage parts (230A, 230B) by differentiating their operation speeds. However, in this case, there may be a large difference in the tension intensity applied to the arm and leg areas, which may increase the possibility of injury and may also reduce the stretching effect itself.

[0380] In addition, in the case of a method of controlling the driving speed of the arm massage part (250A, 250B) and the leg massage part (230A, 230B) to be the same to synchronize their driving, the forward movement of the arm massage part (250A, 250B) must be completed when the length increase of the leg massage part (230A, 230B) is completed, so the forward movement distance of the arm massage part (250A, 250B) may be shortened, which may reduce the stretching effect.

[0381] In order to effectively resolve this problem, the control unit (290) of the present invention can control the third operation to be performed on the leg massage unit (230A, 230B) of the second operation when the second operation is completed prior to the first operation (S310) (S320).

[0382] In the case where the third operation is configured to be performed following the second operation, the control unit (290) of the present invention controls the third operation to be terminated (S340) when the first operation is completed (S330), thereby synchronizing the stretching by forward movement of the first arm massage unit (250A) and the stretching by length increase and downward rotation of the second leg massage unit (230B).

[0383] As described above, the control unit (290) of the present invention can control the time for which the first operation of the first (2) arm massage unit (250A (250B)) is performed (time required for the first operation) and the time for which the second operation of the second (1) leg massage unit (230B (230A)) is performed correspond to each other.

[0384] In addition, as previously described and exemplified in (A) of FIG. 21, the control unit (290) of the present invention can sequentially perform the second and third operations in time series with respect to the second (1) leg massage unit (230B). In this case, the control unit (290) of the present invention can control such that the sum of the time (time required) (T2-T1) for the second operation to be performed and the time (time required) (T3-T2) for the third operation to be performed corresponds to the time (time required) (T3-T1) for the first operation to be performed.

[0385] According to the embodiment, as illustrated in (B) of FIG. 21, the third operation may be initiated (Ta) before the second operation is completed, and even in this case, it is preferable that the total time from the time point (T1) at which the second operation is initiated to the time point (T3) at which the third operation is completed be controlled to correspond to the progress time of the first operation.

[0386]

[0387] FIG. 22 is a drawing illustrating processing according to one embodiment of the present invention for controlling an air cell.

[0388] The control unit (290) of the present invention controls the first operation of the first (2) arm massage unit (250A (250B)) and the second operation of the second (1) leg massage unit (230B (230A)) to be linked (S400, S430), and when the expansion condition of the air cell is satisfied or the expansion condition is maintained (S410, S440), the control unit (290) can control the air cell provided in the corresponding massage unit to expand (S420).

[0389] As described above, the massage device (200) of the present invention may include at least one of a first arm air cell (251A) provided in a first arm massage unit (250A) and a second arm air cell (251B) provided in a second arm massage unit (250B).

[0390] The control unit (290) of the present invention can control the air cell (251A, 251B) provided in the corresponding arm massage unit (250A, 250B) to expand when the arm massage unit (250A, 250B) moves forward (S410, S440) (S420).

[0391] When the air cell expands, play, etc., can be suppressed, so that the body part that comes into contact with the air cell is firmly supported, and when the air cell contracts, the support is released, so that the degree of freedom of the body part can be relatively increased.

[0392] In the embodiment described above, the movement of the arm massage unit (250A, 250B) forward may be to induce the user's arm area accommodated in the arm massage unit (250A, 250B) to move forward for stretching the arm area.

[0393] Therefore, in order to induce the arm part of the actual user to move forward more effectively by the forward movement of the arm massage part (250A, 250B), the control part (290) of the present invention can control the air cell provided in the arm massage part (250A, 250B) that moves forward among the first arm air cell (251A) and the second arm air cell (251B) to expand.

[0394] If the technical idea of ​​this invention can be implemented to induce the user's arm to move forward more effectively, the expansion of the air cell can be performed before the forward movement of the arm massage part (250A, 250B), together with the forward movement of the arm massage part (250A, 250B), or after the forward movement of the arm massage part (250A, 250B) is initiated.

[0395] In a case where the expansion condition is not maintained, such as when the forward movement of the palm massage part (250A, 250B) is stopped according to the embodiment (S440), the control part (290) of the present invention can control the expanded air cell to contract (S450) so that the user's discomfort can be resolved.

[0396] If the movement of the arm massage part (250A, 250B) is not forward movement (S410), the air cell provided in the corresponding arm massage part (250A, 250B) among the first and second arm air cells (251A, 251B) can be controlled to contract for user convenience, injury prevention, and expansion of the available range, but can be configured to be controlled by various selective methods such as expansion, partial expansion, contraction, partial contraction, contraction after expansion, and expansion after contraction, depending on the embodiment.

[0397] Depending on the embodiment, if the air cell rapidly contracts, a safety accident may occur and the user's posture may become unstable, so it is preferable that the control unit (290) of the present invention controls the movement of the arm massage unit (250A, 250B) or the operation of the leg massage unit (230A, 230B) to maintain the expansion state of the corresponding air cell (251A, 251B) or control the contraction of the air cell (251A, 251B) to occur slowly.

[0398] As described above, the massage device (200) of the present invention may include at least one of a first leg air cell (231A) provided in a first leg massage unit (230A) and a second leg air cell (231B) provided in a second leg massage unit (230B).

[0399] The control unit (290) of the present invention can control the air cell (231A, 231B) provided in the corresponding leg massage unit (230A, 230B) to expand (S420) when the length of the leg massage unit (230A, 230B) increases or rotates downward (S410, S440), as in the control of the arm air cell (251A, 251B) described above.

[0400] In this way, when the leg air cell (231A, 231B) provided in the leg massage part (230A, 230B) that increases in length or rotates downward expands, tension can be applied more effectively to the user's leg area, and the user's leg area can be induced to rotate downward.

[0401] The leg massage part (230A, 230B) is typically open at the top for ease of accommodation of the user's legs / feet. In addition, the leg massage part (230A, 230B) is typically configured such that the bottom or / and lower portion of the leg massage part (230A, 230B) supports the feet and legs, etc. that are accommodated therein.

[0402] Therefore, when the leg massage part (230A, 230B) rotates upward, when the length of the leg massage part (230A, 230B) is extended, or when the leg massage part (230A, 230B) moves toward the center of the user's body, the user's leg area can also rotate or move naturally.

[0403] In contrast, when the leg massage part (230A, 230B) rotates downward, when the length of the leg massage part (230A, 230B) is extended, or when the leg massage part (230A, 230B) moves in a direction away from the center of the user's body, the foot / leg area is not physically supported in that direction, so the leg area may come off or be released through the upper open space, and even if the length of the leg massage part (230A, 230B) increases, actual tension may not be effectively applied to the leg area.

[0404] Therefore, when the leg massage part (230A, 230B) rotates downward or its length increases, if the leg air cell (231A, 231B) is controlled to expand as described above, the leg area can also be induced to rotate downward more effectively according to the downward rotation of the leg massage part (230A, 230B), and when the length of the leg massage part (230A, 230B) increases, the resulting tension (tensile force) can be induced to act more effectively on the leg area.

[0405] If the rotation direction of the leg massage part (230A, 230B) is not downward or the length of the leg massage part (230A, 230B) is not increasing (S410, S440), various control methods such as the control of the arm air cell (251A, 251B) described above as well as the control (S450) for contracting the inflated leg air cell (231A, 231B) can be applied.

[0406] Since the forward movement of the arm massage part (250A, 250B) and the increase in length of the leg massage part (230A, 230B) can be achieved simultaneously by linking the first and second movements, in this case, the control part (290) of the present invention can control the arm air cell (251A, 251B) provided in the arm massage part (250A, 250B) where the first movement is performed and the leg air cell (231A, 231B) provided in the leg massage part (230A, 230B) where the second movement is performed to expand.

[0407] As described above, the movement of the arm massage part (250A, 250B) and / or the length increase or / and rotation of the leg massage part (230A, 230B) can be repeated, so it goes without saying that the above-described processing can be configured to be applied cyclically (S460, S470).

[0408] In order to enhance user convenience and user stability and to increase the stretching effect by the first and second actions, it is preferable that the control unit (290) of the present invention controls the expansion of the air cell having a relatively large capacity among the air cells to be expanded so that the expansion completion times correspond to each other, and thus the expansion is performed first.

[0409] In this way, the massage device (200) according to the present invention can implement stretching of arms and legs in three dimensions through a motion in which the first and second motions are linked together or / and a motion in which a third motion is grafted onto the linked motion of the first and second motions.

[0410] Meanwhile, according to the embodiment, the massage device (200) according to the present invention can be controlled to perform the first to third operations described above by reflecting the stretching intensity according to automatic setting based on DB-ized user information, etc. or user selection, etc.

[0411] Specifically, one or more of the movement distance of the arm massage part (250A, 250B) by the first movement, the extension distance of the leg massage part (230A, 230B) by the second movement, and the rotation range of the leg massage part (230A, 230B) by the third movement can be controlled to be performed differently depending on the set stretching intensity or movement number of times.

[0412] In addition, from a corresponding viewpoint, the first reference position, the first reference length, and the first reference angle can also be configured to vary depending on the set stretching intensity or the number of movement cycles in which the first and second movements are performed.

[0413] For example, when the stretching intensity is set high, the control unit (290) of the present invention controls the range of motion or movement of the arm massage unit (250A, 250B) or / and the leg massage unit (230A, 230B) to be relatively expanded, and when the stretching intensity is set low, the control unit (290) of the present invention can control the range of motion of the arm massage unit (250A, 250B) or / and the leg massage unit (230A, 230B) to be relatively reduced.

[0414] An expansion or decrease in the range of motion or movement may mean that the range of movement of the arm massage part (250A, 250B), the extension of the leg massage part (230A, 230B), and the rotational range of the leg massage part (230A, 230B) increase or decrease.

[0415] The stretching intensities of the arm massage parts (250A, 250B) and the leg massage parts (230A, 230B) can be set differently from each other, such as by setting the stretching intensity of the arm massage parts (250A, 250B) high and the stretching intensity of the leg massage parts (230A, 230B) low, and depending on the embodiment, the stretching intensities of the left arm (leg) and the right arm (leg) can also be set differently from each other.

[0416] In addition, the control unit (290) of the present invention can control the stretching intensity to gradually increase or decrease as the number of times or number of movements increases in order to increase the effect of stretching, and, depending on the embodiment, can control the stretching intensity to be cyclically repeated in the order of weakest, weak, medium, strong, and strongest based on a set total number of times (e.g., 5 times).

[0417] When the stretching intensity is set to increase according to the number of movements, the control unit (290) of the present invention can control the first reference angle to become an angle that is tilted more downward as the number of movements increases.

[0418] If the movement is performed based on the intensity set by the user, for example, if the leg massage part (230A, 230B) is further extended or rotates in an extended state even though the user's legs cannot be physically extended further due to the user's physical characteristics, injury or a safety accident may occur.

[0419] Therefore, it is desirable that the extension range, rotation angle range, etc. of the leg massage unit (230A, 230B) be set to be optimized for the user's body size based on information about the user's leg length, which is the user's measured body information.

[0420] As a specific example, the first reference length of the leg massage unit (230A, 230B) may be set to match the user's leg length (measured length or stored length information, etc.) to prevent injury, enhance stretching effect, etc.

[0421] In addition, information on the rotation range corresponding to the user's leg length can be obtained using information matching the user's leg length range and rotation range, and based on this, the rotation range of the leg massage unit (230A, 230B) customized for the user can be set.

[0422] According to an embodiment, the massage device (200) according to the present invention can be controlled to perform the third operation described above by reflecting the length of the user's legs.

[0423] In the case of an embodiment in which the length of the leg massage part (230A, 230B) is adjusted to suit the length of the user's legs, in the case of a user with relatively short legs, the length of the leg massage part (230A, 230B) is set relatively short, so the range in which the leg massage part (230A, 230B) can be extended can be relatively large.

[0424] In contrast, for users with relatively long legs, the movement (length extension) of the leg massage part (230A, 230B) is performed while the length of the leg massage part (230A, 230B) is extended accordingly, so the range in which the leg massage part (230A, 230B) can be extended may be relatively small.

[0425] Therefore, depending on the embodiment, for users with long legs, synchronization between the first movement of the arm massage part (250A, 250B) moving and the movement of extending the length of the leg massage part (230A, 230B) may not be implemented.

[0426] In this respect, the control unit (290) of the present invention can induce synchronization between the stretching motion targeting the arms and the stretching motion targeting the legs by controlling the third motion (rotation of the leg massage unit (230A, 230B)) to be performed only when the user's leg length is greater than or equal to the reference length.

[0427]

[0428] Although the present invention has been described above with reference to limited embodiments and drawings, the present invention is not limited thereto, and it is obvious that various modifications and variations are possible within the scope of the technical idea of ​​the present invention and the equivalent scope of the patent claims to be described below by a person having ordinary skill in the art to which the present invention pertains.

[0429] In the description of the present invention described above, modifiers such as first and second are merely instrumental conceptual terms used to relatively distinguish components from each other, and should be interpreted as not being terms used to indicate a specific order, priority, etc.

[0430] The drawings attached for the purpose of explaining the present invention and illustrating embodiments thereof may be illustrated in a somewhat exaggerated form to emphasize or highlight the technical contents of the present invention. However, it should be interpreted that it is obvious that various modified application examples may be possible at the level of a person skilled in the art in consideration of the contents described above and matters illustrated in the drawings.

[0431] The method for controlling the massage device according to the present invention described above can be implemented as computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices (CD-ROMs, RAMs, ROMs, floppy disks, magnetic disks, hard disks, magneto-optical disks, etc.) that store data that can be read by a computer, and also includes servers for wired and wireless Internet transmission.

[0432] Furthermore, the massage device configuration and functions of this specification can be extended and applied to various (wearable) healthcare devices that can provide healthcare functions (e.g., massage / massage functions, bio-signal measurement functions, etc.). Accordingly, it goes without saying that the "massage device" of this specification can be replaced with the term "(wearable) healthcare device."

[0433] 200: Massage device

[0434] 210: Body massage section 220: Body movement section

[0435] 230A(B): 1st (2nd) leg massage section 240A(B): 1st (2nd) leg drive section

[0436] 240AL(BL): 1st (2nd) leg length adjustment part

[0437] 240AR(BR): 1st (2nd) leg rotation section

[0438] 250A(B): 1st (2nd) Palm Massage Department 260A(B): 1st (2nd) Palgu East Department

[0439] 270: Detection sensor 290: Control unit

[0440] 231A(B): 1st (2nd) leg air cell 251A(B): 1st (2nd) arm air cell

[0441] 211: Shoulder Air Cell

Claims

1. A body massage unit that massages at least a part of the user's body; First and second leg massage parts placed at the lower part of the above body massage; A first arm massage unit positioned corresponding to the first leg massage unit and capable of moving forward or backward; A second arm massage unit positioned corresponding to the second leg massage unit and capable of moving forward or backward; and A massage device characterized in that it includes a control unit that controls a motion in which at least one of the first and second arm massage parts moves forward and a motion in which at least one of the first and second leg massage parts increases in length to be linked.

2. In the first paragraph, the control unit, A massage device characterized in that it controls a first operation in which one of the first arm massage part or the second arm massage part moves forward and a second operation in which the length of the leg massage part, which is positioned at a position crossing the arm massage part where the first operation is performed, among the first and second leg massage parts, increases so as to be linked.

3. In the second paragraph, the control unit, A massage device characterized in that it controls the leg massage part of the second operation to rotate downwards in the third operation.

4. In the third paragraph, the control unit, A massage device characterized in that the second and third movements are controlled to have a time series nature.

5. In paragraph 4, the control unit, A massage device characterized in that it controls the third operation to be performed after the second operation is performed.

6. In the second paragraph, the control unit, A massage device characterized in that the time required for the first operation and the time required for the second operation are controlled to correspond to each other.

7. In the second paragraph, the control unit, A massage device characterized in that it controls one of the first and second operations to be completed when the other operation is completed.

8. In the third or fourth paragraph, the control unit, A massage device characterized in that the sum of the time required for the second operation and the time required for the third operation is controlled to correspond to the time required for the first operation.

9. In the third or fourth paragraph, the control unit, A massage device characterized in that, when the second operation is completed before the first operation, the third operation is controlled to be performed, but the third operation is controlled to be ended at the time the first operation is completed.

10. In paragraph 1, A first arm air cell provided in the first arm massage section; and Further comprising a second arm air cell provided in the second arm massage section, The above control unit, A massage device characterized in that the arm air cell provided in the arm massage section moving forward among the first and second arm air cells is controlled to expand.

11. In paragraph 1, A first leg air cell provided in the first leg massage section; and It further includes a second leg air cell provided in the second leg massage section, The above control unit, A massage device characterized in that the leg air cell provided in the leg massage section, the length of which increases among the first and second leg air cells, is controlled to expand.

12. In paragraph 2, A first arm air cell provided in the first arm massage section; A second arm air cell provided in the second arm massage section; A first leg air cell provided in the first leg massage section; and It further includes a second leg air cell provided in the second leg massage section, The above control unit, A massage device characterized in that it controls the expansion of the arm air cell provided in the arm massage section where the first operation is performed and the leg air cell provided in the leg massage section where the second operation is performed.

13. In the 12th paragraph, the control unit, A massage device characterized in that it controls the expansion of an air cell with a relatively large capacity among the air cells to be expanded so that the points at which the expansion is completed correspond to each other.

14. In the second paragraph, the control unit, A massage device characterized in that the preparatory operation is controlled to be performed prior to the first or second operation, wherein the preparatory operation is performed at least one of a first preparatory operation in which the first and second arm massage parts are positioned at a first reference position within the forward and backward movement range of the first and second arm massage parts, a second preparatory operation in which the body massage part is tilted backward, a third preparatory operation in which the length of the first and second leg massage parts becomes a first reference length, and a fourth preparatory operation in which the angle of the first and second leg massage parts becomes a first reference angle.

15. In paragraph 14, the control unit, A massage device characterized in that at least one of the first reference position, the first reference length, and the first reference angle is varied according to the set stretching intensity or the number of times the first and second movements are performed.

16. In paragraph 15, the control unit, A massage device characterized in that the more the number of the above-mentioned motion cycles, the more the first reference angle is tilted downward.

17. In the second paragraph, at least one of the movement distance by the first operation and the extension distance by the second operation is A massage device characterized in that it is variably set based on at least one of the user's physical information, disease information, and user's selection information.

18. In the third paragraph, at least one of the movement distance by the first operation, the extension distance by the second operation, and the rotation range by the third operation is A massage device characterized in that it is variably set based on at least one of the user's physical information, disease information, and user's selection information.

19. In paragraph 2, It further includes a shoulder air cell provided at a location corresponding to the shoulder area of ​​the user. The above control unit, A massage device characterized in that the expansion of the shoulder air cell is controlled to occur before, after, or during the performance of the first or second action.

20. In paragraph 1, A first arm drive unit that moves the first arm massage unit; A second arm drive unit that moves the second arm massage unit; A first leg driving unit that drives at least one of rotation and length expansion of the first leg massage unit; and A massage device characterized in that it further includes a second leg driving unit that drives at least one of rotation and length expansion of the second leg massage unit.

21. A method for controlling a massage device described in any one of paragraphs 1 to 20, A control method for a massage device, characterized in that it includes a control step for controlling a motion in which at least one of the first and second arm massage parts moves forward and a motion in which at least one of the first and second leg massage parts increases in length to be linked.

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