Massage device providing combination standing mode and method for controlling massage device

Abstract

A massage device according to an embodiment of the present invention comprises: a body massage unit for massaging at least a portion of a user's body; an arm massage unit disposed on a side portion of the body massage unit; an arm driving unit for rotating the arm massage unit in one or more directions; a body driving unit for changing the position or orientation of the body massage unit; and a control unit which, when the standing mode is initiated, controls the body driving unit so that the body massage unit stands facing forward, and controls the arm driving unit so that the angle of the arm massage unit is a reference angle.

Description

Massage device providing a combination standing mode and a control method for the massage device

[0001] The present invention relates to a massage device including a rotatable arm massage part, and more specifically, to a massage device providing a combination standing mode that can more effectively implement user convenience and safety due to otoliths.

[0002] Massage is an auxiliary medical therapy that regulates a user's biological rhythms, 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 dietary habits, living patterns, activity areas, and lifestyles change, and interest in health and work-life balance increases, there is a growing demand for massage devices or massage equipment (hereinafter collectively referred to as "massage devices") that provide muscle relaxation, tension relief, fatigue recovery, and stress relief.

[0004] Recently, massage devices have gone beyond simply providing massage to the user's body and are also embodying the characteristics of electronic devices that offer various additional functions, convenience features, and medical assistance functions.

[0005] As various functions and modules are applied, recent massage devices have a depth and size sufficient to accommodate a part or the entire body of the user, so significant discomfort may be experienced when removing the device after the massage or rest is completed.

[0006] In particular, for the elderly or users with physical disabilities, it may not be easy to get off the massage device, and safety accidents such as injuries may occur during this process.

[0007] Some massage devices include an angle adjustment function, but since this function primarily relates to reclining where the backrest rotates backward, while it offers the advantage of allowing the user to receive a massage in a comfortable position, it cannot provide convenience in the process of the user getting out of the massage device.

[0008] The present invention was conceived against the background described above, and aims to provide a massage device that utilizes the organic operational relationship of multiple massage parts constituting the massage device to further enhance user convenience regarding otoliths and effectively prevent safety accidents that may occur during the otolith process.

[0009] Other objects and advantages of the present invention may be understood from the description below and will become more clearly known from the embodiments of the present invention. Furthermore, the objects and advantages of the present invention may be realized by the configurations set forth in the claims and combinations thereof.

[0010] The technical problems that the present invention aims to solve are not limited to those described above, and other unmentioned problems will be clearly understood by those skilled in the art from the description of the invention below.

[0011] A massage device according to one embodiment of the present invention for achieving the above objective may include: a body massage unit that massages at least a part of a user's body; an arm massage unit disposed on the side of the body massage unit; an arm driving unit that rotates the arm massage unit in one or more directions; a body driving unit that changes the position or posture of the body massage unit; and a control unit that controls the body driving unit so that the body massage unit stands up forward when a standing mode is initiated, and controls the arm driving unit so that the angle of the arm massage unit becomes a reference angle.

[0012] Here, the reference angle of the present invention may be an angle in which the arm massage part is horizontal with the ground. Additionally, it is preferable that the reference angle of the present invention be configured to be variably set by user identification information or the user's selection.

[0013] In addition, the control unit of the present invention may be configured to control the arm drive unit so that the angle of the arm massage unit becomes the reference angle during the process in which the posture of the body massage unit is changed to a standing posture by the standing mode.

[0014] Furthermore, the control unit of the present invention can control the point in time when the standing posture of the body massage unit is completed and the point in time when the angle of the arm massage unit becomes the reference angle to correspond to each other.

[0015] Specifically, the control unit of the present invention may be configured to determine the rotational angular velocity of the arm massage unit in the standing mode according to the following formula.

[0016]

[0017] In the above formula, W A is the rotational angular velocity of the arm massage part due to the standing mode, A A is the angular displacement amount of the arm massage part for the above reference angle, W B is the rotational angular velocity of the body massage part due to the standing mode, and A B is the amount of angular displacement of the body massage part for the standing posture of the body massage part.

[0018] Preferably, the amount of angular displacement of the arm massage part due to the standing mode is configured to be greater than the amount of angular displacement of the body massage part due to the standing mode.

[0019] According to an embodiment, a massage device according to one embodiment of the present invention may further include a leg massage part provided at the lower part of the body massage part; and a leg driving part for adjusting the length or angle of the leg massage part.

[0020] In this case, the control unit of the present invention may be configured to control the leg drive unit so that the lower part of the leg massage unit becomes horizontal with the ground when the standing mode is performed.

[0021] In addition, the control unit of the present invention may be configured to precede a reference position restoration mode in which, when the standing mode is initiated, the length or angle of the leg massage unit is controlled to become a first reference value or the angle of the arm massage unit is controlled to become a second reference value.

[0022] Preferably, a massage device according to one embodiment of the present invention may further include a sensing sensor for detecting the position of the leg massage part or the arm massage part.

[0023] In this case, the control unit of the present invention may be configured to perform a control operation by the standing mode only when the restoration of the reference position of the leg massage unit or the arm massage unit is confirmed using the detection signal input from the detection sensor.

[0024] A massage device according to one embodiment of the present invention may further include a first air cell provided in the arm massage portion. In this case, the control unit of the present invention may control the first air cell to inflate when the standing mode is achieved.

[0025] Furthermore, the control unit of the present invention can control the first air cell to contract when the angle of the arm massage unit becomes the reference angle or when the body massage unit is in an upright position due to the standing mode.

[0026] A massage device according to one embodiment of the present invention may further include a second air cell provided in the leg massage portion. In this case, the control unit of the present invention may control the second air cell to inflate when the standing mode is achieved.

[0027] In addition, the control unit of the present invention can control the second air cell to contract when the lower part of the leg massage unit becomes horizontal with the ground or the body massage unit is in an upright position due to the standing mode.

[0028] A method for controlling a massage device according to another aspect of the present invention is a method for controlling a massage device comprising: a body massage unit that massages at least a part of a user's body; an arm massage unit disposed on the side of the body massage unit; an arm driving unit that rotates the arm massage unit in one or more directions; and a body driving unit that changes the position or posture of the body massage unit, wherein a signal input step is input for a standing mode in which the body massage unit is standing upright forward; and a control step of controlling the body driving unit so that the body massage unit is standing upright forward and controlling the arm driving unit so that the angle of the arm massage unit becomes a reference angle.

[0029] According to one embodiment of the present invention, when the standing mode is initiated, the posture or position of the body massage part is adjusted so that the body massage part stands up forward, and the angle of the arm massage part or leg massage part is adjusted to an angle or posture optimized for the user's standing motion, thereby further improving user convenience during the standing process.

[0030] According to the present invention, when the standing mode is performed, the angle of the arm massage part is adjusted in a horizontal direction, etc., so the phenomenon of the upper body leaning forward can be effectively suppressed, and the user can naturally apply minimal force for the standing movement through the physical support of the arm massage part, thereby inducing the process of edema to be performed more easily and stably.

[0031] According to one embodiment of the present invention, by controlling the expansion and contraction of air cells provided in the arm massage part or leg massage part in a time series, the user's body can be firmly supported or released, thereby enabling a standing mode to be implemented more safely and stably.

[0032] The following drawings attached to this specification illustrate preferred embodiments of the present invention and serve to facilitate a more effective understanding of the technical concept of the present invention together with the detailed description of the invention provided below; therefore, the present invention should not be interpreted as being limited only to the matters described in these drawings.

[0033] FIG. 1 is a drawing showing a massage device according to an embodiment of the present invention,

[0034] FIG. 2 is a drawing for explaining a massage device according to an embodiment of the present invention,

[0035] FIG. 3 is a drawing showing an external device capable of communicating with a massage device according to an embodiment of the present invention.

[0036] FIG. 4 is a drawing for explaining the standing assistance function of a massage device according to an embodiment of the present invention,

[0037] FIG. 5 is a drawing showing a support structure of a massage device according to an embodiment of the present invention.

[0038] FIGS. 6a and 6b are drawings showing a part of the configuration of a support structure of a massage device according to an embodiment of the present invention.

[0039] FIG. 7 is a drawing for explaining the state of a massage device according to an embodiment of the present invention,

[0040] FIG. 8 is a rear perspective view showing the standing assist state of a massage device according to one embodiment of the present invention,

[0041] FIG. 9 (A) and (B) are rear views showing the normal state and standing assist state of a massage device according to one embodiment of the present invention,

[0042] FIG. 10 is a side view showing the normal state of a massage device according to one embodiment of the present invention,

[0043] FIG. 11 is a side view showing the standing assistance state of a massage device according to one embodiment of the present invention,

[0044] FIG. 12 is a perspective view showing a covering member constituting a massage device according to one embodiment of the present invention,

[0045] FIGS. 13a to 13c are drawings showing the normal state, standing assist state, and reclining state of a massage device according to one embodiment of the present invention, respectively.

[0046] FIG. 14 is a drawing showing a massage device having a rotatable arm massage part according to an embodiment of the present invention.

[0047] FIG. 15 is a perspective view showing the connection structure between the arm massage part and the main frame of a massage device according to one embodiment of the present invention.

[0048] FIG. 16 is a side view showing the connection structure between the arm massage part and the main frame of the massage device illustrated in FIG. 14.

[0049] FIG. 17 is a perspective view showing the arm massage part of the massage device illustrated in FIG. 14.

[0050] FIG. 18a is an exploded perspective view showing the arm massage part of the massage device illustrated in FIG. 14.

[0051] FIG. 18b is an exploded perspective view showing a part of the configuration of a rotation module constituting the arm massage part of the massage device illustrated in FIG. 14.

[0052] FIG. 19 is a drawing showing an example of operation of the arm massage part of the massage device illustrated in FIG. 14.

[0053] FIG. 20 is a side view showing the state in which the leg massage part of a massage device according to one embodiment of the present invention rotates individually.

[0054] FIG. 21 is a drawing showing the state in which a leg massage part of a massage device according to an embodiment of the present invention is connected to a leg connecting frame.

[0055] FIGS. 22 and 23 are block diagrams illustrating the detailed configuration of a massage device according to an embodiment of the present invention.

[0056] FIG. 24 is a flowchart illustrating a processing process according to an embodiment of the present invention based on the behavioral configuration of the present invention.

[0057] FIG. 25 is a flowchart illustrating a processing process according to an embodiment of the present invention,

[0058] FIG. 26 is a flowchart illustrating a processing process according to another embodiment of the present invention,

[0059] FIG. 27 is a flowchart illustrating an embodiment of the present invention in which an air cell is controlled.

[0060] FIGS. 28 and 29 are drawings explaining the operation relationship, etc., by standing mode.

[0061] A massage device characterized by comprising: a body massage unit that massages at least a part of a user's body; an arm massage unit disposed on the side of the body massage unit; an arm drive unit that rotates the arm massage unit; a leg massage unit provided at the bottom of the body massage unit; a sensing sensor that detects the position of the leg massage unit or the arm massage unit; and a body drive unit that changes the position or posture of the body massage unit.

[0062] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Prior to this, terms and words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings, and should be interpreted in a meaning and concept consistent with the technical spirit of the present invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention.

[0063] Therefore, the embodiments described in this specification and the configurations illustrated in the drawings are merely the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention; thus, it should be understood that various equivalents and modifications that can replace them may exist at the time of filing this application.

[0064] When it is stated that a component is "connected" or "connected" to another component, it should be understood that it may be directly connected to or connected to that other component, or that there may be other components in between.

[0065] On the other hand, when it is stated that one component is "directly connected" or "directly coupled" to another component, this should be understood as meaning that no other component exists in between. Other expressions used to describe the relationships between components should also be interpreted in this manner.

[0066] The terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention; singular expressions include plural expressions unless the context clearly indicates otherwise.

[0067] In this specification, terms such as “comprising” or “having” mean that the implemented features, numbers, steps, actions, components, parts, or combinations thereof are present. Therefore, it should be understood that such terms are not to exclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0068] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present 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 should not be interpreted in an ideal or overly formal sense unless explicitly defined in this specification.

[0069] In this specification, an actuator refers to a configuration capable of providing driving force. For example, an actuator may include, but is not limited to, a motor, a linear motor, an electronic motor, a DC motor, an AC motor, a linear actuator, an electric actuator, etc.

[0070]

[0071] Hereinafter, with reference to FIGS. 1 to 21, the details of the basic embodiment of the present invention and the driving mechanism, etc. will be described first, and the details of the embodiment of the present invention providing the combination standing mode, etc. will be described later.

[0072] First, with reference to FIGS. 1 to 13, the overall configuration of the massage device according to the present invention and the mechanism for implementing the standing mode will be described, and then with reference to FIGS. 14 to 21, the operation mechanism of the arm massage part, etc. will be described in detail.

[0073] FIG. 1 is a drawing showing a massage device according to one embodiment of the present invention.

[0074] A massage device (1000) according to one embodiment of the present invention may include a main body (1020) comprising at least one massage part among a body massage part (1100) that forms a region for accommodating at least a part of a user's body and massages the user's body (or massages at least a part of the body), an arm massage part (1200) that massages the user's arm, and a leg massage part (1300) that massages the user's leg, and a base part (1010) that supports the main body (1020) on a floor surface.

[0075] The body massage unit (1100) is designed to support the user's body while the user is seated comfortably, and may include a seat unit (1101) that supports the user's buttocks and thighs, and a backrest unit (1102) that supports the user's back.

[0076] The arm massage unit (1200) may be positioned on at least one side and the other side of the body massage unit (1100). The arm massage unit (1200) may be positioned on both sides of the body massage unit (1100) to massage both arms of the user. The arm massage unit (1200) positioned on the left and the one positioned on the right may operate independently of each other based on the control of a control unit that controls the massage device (1000).

[0077] The leg massage unit (1300) may be positioned at the lower part of the body massage unit (1100) and / or at the front lower part of the massage device (1000). The leg massage unit (1300) is configured to massage both legs of the user, and the one positioned on the left and the one positioned on the right may operate independently of each other based on the control of the control unit that controls the massage device (1000).

[0078] The body massage unit (1100) can provide massage to at least a part of the user's body. For example, the body massage unit (1100) can massage at least a part of at least one body part among the user's upper body and lower body.

[0079] The body massage unit (1100) may include a massage module (100) (see FIG. 4) for providing a massage function to at least a part of the user's body, an audio output module (1120) for providing audio output of any form to the user, a support structure that forms the frame of the body massage unit (1100) and supports the user's body, and a user input unit (1140) for receiving input of any form from the user.

[0080] The configurations included in the body massage unit (1100) described above are merely exemplary embodiments, and the body massage unit (1100) may include various configurations in addition to the configurations described above.

[0081] In addition, the shape and structure of the massage device (1000) illustrated in FIG. 1 are merely exemplary, and various forms of massage devices (1000) may also be included within the scope of the present invention as long as they do not deviate from the scope of rights defined by the claims of the present invention.

[0082] The body massage unit (1100) can form a space of any shape to accommodate a user. The body massage unit (1100) can have a space of a shape corresponding to the shape of the user's body. For example, as shown in FIG. 1, the body massage unit (1100) can be implemented as a seat type consisting of a seat portion (1101) and a backrest portion (1102) capable of accommodating the user's whole body or a part of the body.

[0083] The part of the body massage part (1100) that contacts the ground may include any material or any member (e.g., an anti-slip pad, etc.) to increase friction, and may include wheels to enhance the mobility of the massage device (1000).

[0084] At least a portion of the body massage unit (1100) can slide. For example, when the body massage unit (1100) starts a massage, at least a portion of the body massage unit (1100) can slide forward. Additionally, the body massage unit (1100) can be tilted backward. As a result, the body massage unit (1100) can provide a massage while tilted backward.

[0085] According to one embodiment of the present invention, the massage device (1000) may include at least one air cell (not shown). The air cell may be located in at least one of the user's shoulder portion, pelvic portion, leg massage portion (1300), and arm massage portion (1200), but is not limited thereto and may be placed in various parts of the massage device (1000).

[0086] The massage device (1000) may include an air supply unit, and the air supply unit may inflate the air cell by supplying air to the air cell. The air supply unit may be located inside the body massage unit (1100) and / or the leg massage unit (1300). Alternatively, the air supply unit may be located outside the massage device (1000).

[0087] The leg massage unit (1300) includes a receiving space for receiving the user's leg and can provide leg massage to the user by massaging at least a portion of the user's leg. For example, the leg massage unit (1300) may include a calf massage unit for massaging the user's calf and / or a foot massage unit for massaging the user's foot.

[0088] The leg massager (1300) may be adjustable in length according to the user's physical characteristics. For example, if a tall user uses the massager (1000), the length of the calf is long, so the length of the leg massager (1300) needs to be increased. Also, if a short user uses the massager (1000), the length of the calf is short, so the leg massager (1300) needs to be shortened. Accordingly, the leg massager (1300) can provide a leg massage customized to the user's height.

[0089] A massage module (100) (see FIG. 4) may be provided inside the body massage unit (1100) to provide any form of mechanical stimulation to a user accommodated in the body massage unit (1100). As shown in FIG. 1, the massage module (100) may move along a support structure provided in the body massage unit (1100).

[0090] A rack gear may be installed in the frame constituting the support structure of the body massage unit (1100) so as to extend from the seat unit (1101) to the backrest unit (1102), and the massage module (100) may move along the rack gear to provide mechanical stimulation to various parts of the user's body. For example, the massage module (100) may massage the user's body by tapping or kneading at least one of the back, shoulders, waist, hips, and thighs. The massage module (100) may include at least one massage unit among a ball massage unit and a roller massage unit, but is not limited thereto.

[0091] According to one embodiment of the present invention, a massage device (1000) may include an audio output module (1120). The audio output module (1120) may be provided at various locations. For example, the audio output module (1120) may include a plurality of output units, such as an upper audio output unit positioned at the top of the seat portion that contacts the user, a front audio output unit attached to the front of the left and right arm massage portions of the seat portion, and / or a rear audio output unit attached to the rear of the arm massage portion, but is not limited thereto. In this case, the audio output module (1120) may provide stereoscopic sound such as 5.1 channels, but is not limited thereto.

[0092] According to one embodiment of the present invention, a user can control a massage device (1000) using a massage device control device (2000). The massage device control device (2000) can be connected to the massage device (1000) via wired communication and / or wireless communication.

[0093] The massage device control device (2000) may include at least one personal device such as a remote controller, a cellular phone, and a PDA (Personal Digital Assistant), but is not limited thereto and may include various electronic devices that can be connected to the massage device (1000) via wired or wireless communication.

[0094] Referring to FIG. 2, a massage device (1000) according to one embodiment of the present invention may include at least one of a control unit (1400), a sensor unit (1410), a communication unit (1420), a memory (1430), an audio output unit (1440), and an input unit (1450). The control unit (1400) may include at least one processor and a memory. At least one processor may execute instructions stored in the memory.

[0095] The control unit (1400) can control the massage device (1000). The control unit (1400) may include one processor or multiple processors. If the control unit (1400) includes multiple processors, at least some of the multiple processors may be located at physically separated distances from each other. Additionally, the massage device (1000) is not limited thereto and may be implemented in various ways.

[0096] According to one embodiment of the present invention, a control unit (1400) can control the operation of a massage device (1000). For example, the massage device (1000) may include a plurality of actuators, and the massage device (1000) can control the operation of the massage device (1000) by controlling the operation of the plurality of actuators. For example, the massage device (1000) may include a driving unit that moves an armrest frame support, at least one actuator included in a massage module (100), a back angle actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator, and at least one of a sliding actuator, and the control unit (1400) can control the operation of the massage device (1000) by controlling these. At this time, at least one actuator included in the massage module (100) may be a variety of actuators, such as a moving actuator, a forward / backward actuator, and a massage actuator.

[0097] The moving actuator is an actuator that enables the up and down movement of the massage module (100), and can move the massage module (100) along a support structure in at least one direction among the upper direction and the lower direction of the massage device (1000). By the operation of the massage module (100) moving actuator, the massage module (100) can move along a rack gear. The reciprocating actuator can move the massage module (100) forward and backward (or tilt) in at least one direction among the forward and rear directions of the massage module (100). In other words, the massage module (100) can be tilted in at least one direction among the forward direction and the rear direction of the massage module (100) through the reciprocating actuator. The massage actuator can move the massage module (100) in various ways to provide various massage actions to the user.

[0098] The control unit (1400) can provide various massage operations by operating at least one actuator included in the massage actuator. For example, the control unit (1400) can provide tapping massage, kneading massage, etc. by operating at least one actuator included in the massage module (100), but is not limited thereto and can provide various massage operations.

[0099] The back angle actuator is an actuator that adjusts the angle of the part of the massage device (1000) that contacts the user's back, and the back angle of the massage device (1000) can be adjusted by the operation of the back angle actuator.

[0100] The leg angle actuator is an actuator that adjusts the angle of the leg massage part (1300) of the massage device (1000), and the angle between the leg massage part (1300) and the body massage part (1100) can be adjusted by the operation of the leg angle actuator.

[0101] The foot massage actuator represents an actuator that operates a foot massage module included in the leg massage unit (1300). By utilizing the foot massage actuator, the massage device (1000) can provide a foot massage to the user.

[0102] The leg length adjustment actuator represents an actuator that adjusts the length of the leg massage unit (1300). For example, the control unit (1400) can use the leg length adjustment actuator to adjust the length of the leg massage unit (1300) to suit the user, and as a result, the user can receive a massage that fits their body shape.

[0103] The memory (1430) may be included in the control unit (1400) or located outside the control unit (1400). The memory (1430) may store various information related to the massage device (1000). For example, the memory (1430) may include massage control information and may include information about the user, but is not limited thereto. Information about the user may be various information related to the user, such as personal authentication information and the user's biometric information (e.g., age, height, weight, blood pressure, body composition, heart rate, electrocardiogram, etc.).

[0104] The memory (1430) may be implemented through a non-volatile storage medium capable of continuously storing any data. For example, the memory (1430) may include, but is not limited to, a disk, an optical disk, and a magneto-optical storage device, as well as a storage device based on flash memory and / or battery-backup memory.

[0105] Memory (1430) may refer to a volatile storage device that is a primary storage device directly accessed by a processor, such as dynamic random access memory (DRAM) or static random access memory (SRAM), in which stored information is instantly erased when the power is turned off, but is not limited to these. Such memory (1430) can be operated by a control unit (1400).

[0106] The massage device (1000) may include a sensor unit (1410). The sensor unit (1410) may acquire various information using at least one sensor. The sensor unit (1410) may be equipped with a sensor that uses a measuring means such as pressure, potential, and optics. For example, the sensor may include, but is not limited to, a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, an electrode sensor, an air pressure measuring sensor, etc.

[0107] Additionally, the sensor unit (1410) may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire at least one of fingerprint information, facial information, voice information, iris information, body weight information, blood pressure information, heart rate (or heartbeat) information, electrocardiogram information, and body composition information, and may include various biometric information, not limited thereto. For example, the massage device (1000) may provide customized massage based on information acquired through the sensors.

[0108] The communication unit (1420) can receive a signal transmitted from an external device or transmit a signal to the massage device (1000) to an external device.

[0109] For example, the control unit (1400) can process a signal received through the communication unit (1420) to obtain a result signal and transmit the result signal to the communication unit (1420). The communication unit (1420) can transmit (or output) the result signal to an external device.

[0110] The control unit (1400) can acquire information about various components included in the massage device (1000) (e.g., information about the massage module (100), information about the arm massage unit (1200), etc.) and transmit it to the communication unit (1420). The communication unit (1420) can transmit information about the massage device (1000) to an external device.

[0111] The communication unit (1420) can communicate with a module inside the massage device (1000), an external massage device, and / or a user terminal through any type of network. The communication unit may include a wired / wireless connection module for network access. Wireless connection technologies may include, for example, WLAN (Wireless LAN) (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed ​​Downlink Packet Access), etc. Wired connection technologies may include, for example, XDSL (Digital Subscriber Line), FTTH (Fibers to the home), PLC (Power Line Communication), etc. Additionally, 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 such as Bluetooth, RFID (Radio Frequency Identification), infrared communication (IrDA, Infrared Data Association), UWB (Ultra-Wideband), and ZigBee may be used, but are not limited thereto.

[0112] The massage device (1000) may further include an input unit (1450) and / or an output unit. The massage device (1000) may receive input from a user using the input unit (1450). The massage device (1000) may output the processing result of the control unit (1400) to the output unit.

[0113] Specifically, the input unit (1450) can receive commands related to the operation control of the massage device (1000) from a user, and the input unit (1450) can be implemented in various forms. For example, the input unit (1450) may be provided in the body massage unit (1100) and may be provided in the leg massage unit (1300), but is not limited thereto. In addition, the input unit (1450) may include the user input unit (1140) of FIG. 1, the massage device control device (2000), or various external devices described in FIG. 3.

[0114] The massage device (1000) can receive various commands from the user through the input unit (1450). For example, the massage device (1000) can receive any command regarding the selection of a massage module, selection of a massage type, selection of massage intensity, selection of massage time, selection of a massage area, selection of the position and operation of the body massage unit (1100), selection of turning the power of the massage device (1000) on and off, selection of whether to operate the heating function, selection related to sound source playback, etc., but is not limited thereto.

[0115] The massage device (1000) may provide an interface for selecting a massage mode. For example, an input unit (1450) or an output unit may include a massage device control device (2000). A list of various medical massage modes related to physical improvement may be listed through the massage device control device (2000).

[0116] The medical massage mode may include at least one of a concentration mode, meditation mode, recovery mode, stretching mode, sleep mode, vitality mode, golf mode, hip-up mode, student mode, zero gravity mode, growth mode, and cervical traction mode.

[0117] According to another embodiment of the present invention, the input unit (1450) may be equipped with buttons in the form of hot keys and / or selection buttons for executing direction selection, cancellation, and input, depending on a preset user setting function or a preset function itself.

[0118] The input unit (1450) can be implemented as a touchscreen, keypad, dome switch, touchpad (pressure / capacitive), jog wheel, jog switch, etc., but is not limited thereto. Additionally, the input unit (1450) can obtain commands through the user's speech based on voice recognition technology.

[0119] The output unit may include a display for displaying the operating status of the massage device (1000) 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 3D display, but is not limited thereto.

[0120] The output unit may include an audio output unit (1440). The audio output unit (1440) of FIG. 2 may include the audio output module (1120) of FIG. 1. The audio output unit (1440) may provide audio output of any form to the user. For example, the audio output unit (1440) may provide brain stimulation to the user by outputting a sound source and / or binaural beat optimized for the massage pattern provided by the massage device (1000) to the user. The audio output unit (1440) may output an acoustic signal received via a network (not shown) or stored in an internal / external storage medium (not shown). For example, the audio output unit (1440) may output a sound source according to the control of the user terminal through a network connection (e.g., Bluetooth connection, etc.) with the user terminal. Additionally, the audio output unit (1440) may output an acoustic signal of any form generated in relation to the operation of the massage device (1000).

[0121] Those skilled in the art will be well aware 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 by a computer-readable medium.

[0122] Any medium accessible by a computer may be a computer-readable medium, and such computer-readable media include volatile and non-volatile media, transitory and non-transitory media, and removable and non-removable media. By example, not a limitation, computer-readable media may include computer-readable storage media and computer-readable transmission media.

[0123] Computer-readable storage media include volatile and non-volatile media, transient and non-transient media, and removable and non-removable media implemented by any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer-readable storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory, or other memory technologies, CD-ROM, DVD (digital video disk), or other optical disk storage devices, magnetic cassettes, magnetic tapes, magnetic disk storage devices, or other magnetic storage devices, or any other media that can be accessed by a computer and used to store desired information.

[0124] FIG. 3 is a drawing showing an external device capable of communicating with a massage device (1000) according to one embodiment of the present invention.

[0125] The massage device (1000) can communicate with an external device (3000) via a wired or wireless connection through a communication unit (1420) to transmit and receive various data.

[0126] The external device (3000) may include a portable electronic device (3100) such as an AI speaker, tablet, or smartphone. The portable electronic device (3100) may be dedicated to the massage device (1000) or may be a general-purpose portable electronic device. Additionally, the external device (3000) may include a wearable device (3200) such as a smartwatch or smartband. The external device (3000) may include a massage device (3300) other than the massage device (1000) currently being used by the user. The external device (3000) may include a hospital server (3400). The external device (3000) may include a personal health record (PHR) server. Additionally, the external device (3000) may include a cloud server (3500). The external device (3000) may include a medical measurement device such as an electronic scale, a blood glucose meter, or a blood pressure meter.

[0127] In the present invention, some examples of external devices (3000) have been described, but any device that communicates with the massage device (1000) via wired or wireless means and can exchange information with each other may be considered an external device.

[0128] A massage device (1000) according to one embodiment of the present invention may include a reclining function to allow a user to receive a massage in a comfortable position. The reclining function may be a function that rotates the seat portion (1101) and the backrest portion (1102) backward from a reference position to lay the user down.

[0129] In addition, a massage device (1000) according to one embodiment of the present invention may be equipped with a standing assist function to assist a user in standing up. The standing assist function may be a function that adjusts the massage device (1000) to an angle that makes it easy for the user to stand up by tilting (or rotating) the seat portion (1101) and the backrest portion (1102) forward at a certain angle from a reference position so that the seat portion (1101) and the backrest portion (1102) are close to a vertical axis. Through this, the user can easily stand up with a small amount of force when standing up from the massage device (1000) after using the massage device (1000).

[0130] FIGS. 4 to 13 are drawings for explaining the angle adjustment function of a massage device (1000).

[0131] Referring to FIGS. 4 to 13, the massage device (1000) may include a support structure, a standing assist device, and a reclining means configured inside the base part (1010) and the main body part (1020).

[0132] The support structure is a chassis structure that constitutes the seat portion (1101), the backrest portion (1102), and the leg massage portion (1300), and can be formed in various structures, such as at least one of a frame and a plate.

[0133] The support structure can support the user's body and, in addition, support various components of the massage device (1000). At this time, the various components may include at least one of a massage module (100), an air cell, at least one actuator included in the massage module (100), an air supply device that supplies or discharges air to the air cell to inflate or deflate it, a reclining angle adjustment device, a standing assist device, and a control unit (1400) (see FIG. 2).

[0134] The support structure is an injection molded product having a shape corresponding to the body so as to comfortably support the user's body parts, covered with an interior material such as urethane foam, sponge, or expanded styrol, and covered with an exterior cover made of polyester brushed tricot, synthetic leather, or natural leather.

[0135] According to one embodiment of the present disclosure, the support structure may include a main frame (30) comprising a seat frame (31) and a backrest frame (32), a base frame (10), a tilting frame (20), a tilting shaft (21), and a rack gear (90). The base frame (10) constitutes the support structure of the base part (1010), and the main frame (30), the tilting frame (20), the tilting shaft (21), the rack gear (90), etc. may constitute the support structure of the main body part (1020).

[0136] The base frame (10), main frame (30), tilting frame (20), tilting shaft (21), and rack gear (90) constituting the support structure can be covered by a case member (1011, 1021) made of plastic injection molding or the like to be shielded from the outside.

[0137] The main frame (30) can support at least a part of the user's body. For example, the main frame (30) may include a seat frame (31) and a backrest frame (32). The seat frame (31) can support at least a part of the user's lower body. The backrest frame (32) can support at least a part of the user's upper body.

[0138] The base frame (10) serves as a support structure for the base portion (1010) and is placed on the floor surface to support the main body portion (1020) of the massage device (1000). For example, the base frame (10) may be positioned at the bottom of the main frame (30) to support the main frame (30). A base case member (1011) is installed on the outer side of the base frame (10) to shield the base frame (10) from the outside. The base case member (1011) may be made of an injection-molded material and may cover the base frame (10) as well as cover electrical components for the control and operation of the massage device.

[0139] The base frame (10) may include a plurality of horizontal base frames (11), a plurality of vertical base frames (12), and a reinforcing frame (13).

[0140] A plurality of horizontal base frames (11) can be installed to extend in the front-rear and left-right directions and placed on the floor surface.

[0141] A plurality of vertical base frames (12) may be installed to extend in a first direction at both the front and rear sides of a horizontal base frame (11). At this time, the first direction may be the upper direction of the base frame (10) (or the upper direction of the horizontal base frame (11)). For example, a plurality of vertical base frames (12) may be installed vertically with respect to a plurality of horizontal base frames (11).

[0142] A plurality of vertical base frames (12) may include a front vertical base frame (12a) positioned at the front of both sides of a horizontal base frame (11) and a rear vertical base frame (12b) positioned at the rear of both sides of a horizontal base frame (11). The front vertical base frame (12a) and the rear vertical base frame (12b) may be installed vertically with respect to the plurality of horizontal base frames (11).

[0143] The reinforcing frame (13) can connect the front vertical base frame (12a) and the rear vertical base frame (12b) to each other. For example, the reinforcing frame (13) can connect the upper part of the front vertical base frame (12a) and the upper part of the rear vertical base frame (12b). The reinforcing frame (13) can connect at least a portion of the area between the upper and lower parts of the front vertical base frame (12a) and the upper part of the rear vertical base frame (12b). In this case, at least a portion of the area between the upper and lower parts of the front vertical base frame (12a) may be the middle (or intermediate) part of the front vertical base frame (12a).

[0144] The tilting frame (20) can be positioned between the main frame (30) and the base frame (10) to support the main frame (30). For example, the tilting frame (20) can be connected to a tilting shaft (21) installed at the front of the base frame (10). At this time, the tilting shaft (21) can be positioned (or installed) at the upper side of the front part of the base frame (10) (for example, the upper part of the front vertical base frame (12a)).

[0145] The tilting frame (20) is installed so that its front portion rotates up and down around the tilting axis (21), and can be tilted (or rotated) relative to the base frame (10) by means of an upright assist tilting means.

[0146] For example, the tilting frame (20) forms a roughly rectangular frame and can rotatably support the seat frame (31) and the backrest frame (32) on the base frame (10). The lower ends of the front portions on both sides of the tilting frame (20) are connected to the tilting axis (21), so that the lower ends of the front portions can rotate up and down around the tilting axis (21) to perform the function of adjusting the standing assist angle of the seat frame (31) and the backrest frame (32).

[0147] Referring to FIGS. 6a and 6b, the tilting frame (20) may include a horizontal tilting frame (22), a plurality of vertical tilting frames (23a, 23b), and an upper tilting frame (24a, 24b, 24c).

[0148] The horizontal tilting frame (22) can be implemented (or formed) in the shape of a square frame by being arranged to extend in the front-rear and left-right directions between the two vertical base frames (12) and the reinforcing frame (13). At this time, the rear horizontal tilting frame (22a) positioned at the rear end of the horizontal tilting frame (22) can be connected to a tilting actuator (60), which is an upright assist tilting means, to receive external force.

[0149] A plurality of vertical tilting frames (23a, 23b) may be installed in a second direction on both the front and rear sides of the horizontal tilting frame (22). At this time, the second direction may be the lower direction of the tilting frame (20) (or the upper direction of the horizontal tilting frame (22)). For example, a plurality of vertical tilting frames (23a, 23b) may be installed vertically with respect to the horizontal tilting frame (22). And the front side vertical tilting frame (23a) and the rear side vertical tilting frame (23b) may each be arranged to overlap the inner side (left and right direction) of the front side vertical base frame (12a) and the rear side vertical base frame (12b).

[0150] Among the plurality of vertical tilting frames (23a, 23b), at least a portion of the area between the upper and lower parts of the front vertical tilting frame (23a) can be rotatably connected to the upper part of the front vertical base frame (12a) by a tilting shaft (21). At this time, at least a portion of the area between the upper and lower parts of the front vertical tilting frame (23a) may be the middle (or intermediate) part of the front vertical tilting frame (23a).

[0151] The upper tilting frames (24a, 24b) are coupled to the upper outer surfaces of the front vertical tilting frame (23a) and the rear vertical tilting frame (23b). The upper tilting frames (24a, 24b, 24c) may include a front vertical upper tilting frame (24a) positioned on (or coupled to) the outer surface of the front vertical tilting frame (23a), a rear vertical upper tilting frame (24b) positioned on the outer surface of the rear vertical tilting frame (23b), and a horizontal upper tilting frame (24c) connecting the front and rear vertical upper tilting frames (24a and 24b).

[0152] The front vertical upper tilting frame (24a) and the rear vertical upper tilting frame (24b) can be arranged in alignment with the front vertical base frame (12a) and the rear vertical base frame (12b), respectively. The lower end of the rear vertical upper tilting frame (24b) is seated and supported on the upper end of the rear vertical base frame (12b), thereby functioning as a stopper and increasing the supporting force. At this time, if the length of the front vertical upper tilting frame (24a) is shorter than the length of the rear vertical upper tilting frame (24b) and the length of the front vertical base frame (12a) is longer than the length of the rear vertical base frame (12b), and the position of the tilting shaft (21) is positioned higher than the upper end of the rear vertical base frame (12b), there is an advantage in that a large tilting force can be obtained even with a small driving force of the tilting actuator (60).

[0153] When the lower end of the rear vertical upper tilting frame (24b) is connected to and seated on the upper end of the rear vertical base frame (12b), a cushioning material (not shown) made of an elastic material such as rubber or silicone to absorb shock may be installed between the lower end of the rear vertical upper tilting frame (24b) and the upper end of the rear vertical base frame (12b).

[0154] The horizontal upper tilting frame (24c) may include an upper horizontal upper tilting frame and a lower horizontal upper tilting frame. The upper horizontal upper tilting frame may connect the upper portions of the front and rear vertical upper tilting frames (24a and 24b). The lower horizontal upper tilting frame may connect at least some portion of the upper and lower portions of the front and rear vertical upper tilting frames (24a and 24b). For example, one end of the lower horizontal upper tilting frame may be connected to the lower portion of the front vertical upper tilting frame (24a), and the other end may be connected to the middle portion of the rear vertical upper tilting frame (24b).

[0155] A plurality of reclining rollers (73) that guide the reclining rails (72) installed on both sides of the seat frame (31) may be rotatably installed on the inner side of the upper horizontal upper tilting frame (24c).

[0156] The tilting frame (20) made of this structure provides the advantage of being able to implement standing assistance and reclining functions without increasing the overall size of the massage device, especially the width.

[0157] In addition, there is an advantage in that the position of the tilting axis (21) is raised by the structure of the tilting frame (20) as described above, so that a large tilting force can be obtained even with a small driving force.

[0158] The tilting frame (20) can rotate in the up and down direction around the tilting axis (21) by means of a standing assist tilting means installed at the bottom of the tilting frame (20). For example, the standing assist tilting means may be positioned between the base frame (10) and the tilting frame (20) to tilt the tilting frame (20) around the tilting axis (21). Specifically, one end of the standing assist tilting means may be connected to the front of the base frame (10) (for example, the front horizontal base frame among a plurality of horizontal base frames (11)), and the other end may be connected to the rear of the tilting frame (20) (for example, the rear end of the horizontal tilting frame (22).

[0159] The standing assist tilting means can tilt the tilting frame (20) around the tilting axis (21) by adjusting the length between one end and the other end of the standing assist tilting means. At this time, the standing assist tilting means may be a tilting actuator (60).

[0160] At the rear end of the tilting frame (20), a covering member (40) is attached to cover the space between the lower part of the main body (1020) and the base part (1010) when the tilting frame (20) is tilted forward around the tilting axis (21) by the standing assist tilting means.

[0161] The covering member (40) may be made of plastic injection molding, but its material is not limited. The covering member (40) may have the shape of a rectangular curved plate that is long from left to right, and is coupled to the rear horizontal tilting frame (20) positioned at the rear end of the tilting frame (20) so that it moves together when the tilting frame (20) tilts around the tilting axis (21). The size of the covering member (40) may be formed to be a size that generally matches the size of the space created between the lower part of the main body case member (1021) of the main body part (1020) and the base case member (1011) of the base part (1010) by the tilting of the tilting frame (20). For example, the left-right width of the covering member (40) may be slightly longer than or generally similar to the left-right length of the rear horizontal tilting frame (20).

[0162] The covering member (40) can be coupled to the rear horizontal tilting frame (20) by means of a plurality of brackets (41) and screws (42). Before coupling the covering member (40) to the rear horizontal tilting frame (20) using the brackets (41) and screws (42), the coupling work can be performed more easily by pre-assembling the covering member (40) to the rear horizontal tilting frame (20). For such pre-assembly of the covering member (40), a plurality of pre-assembly holders (43) can be formed to protrude forward, into which the rear horizontal tilting frame (20) is fitted and coupled on the front surface of the covering member (40). A plurality of pre-assembly holders (43) are arranged vertically, and the spacing between the pre-assembly holder (43) placed on the upper side and the pre-assembly holder (43) placed on the lower side generally matches the vertical width of the rear horizontal tilting frame (20), so that the rear horizontal tilting frame (20) is pressed between the upper pre-assembly holder (43) and the lower pre-assembly holder (43) to achieve pre-assembly, and the covering member (40) can be temporarily fixed to the rear horizontal tilting frame (20).

[0163] In this pre-assembled state, the covering member (40) can be firmly assembled to the rear horizontal tilting frame (20) using the bracket (41) and screw (42), thereby allowing the worker to easily attach the covering member (40) to the rear horizontal tilting frame (20).

[0164] The shielding member (40) may be made entirely of a rigid material. In this case, a flexible shield (45) made of a flexible material may be installed on the upper part of the shielding member (40) so as to extend upward. The flexible shield (45) may be made of any flexible material, such as non-woven fabric, fabric, resin such as rubber or silicone, or leather. The left and right length of the flexible shield (45) may generally match the left and right length of the shielding member (40). The lower part of the flexible shield (45) may be connected to the upper part of the shielding member (40) by means of a bracket (41) and a screw (42).

[0165] The flexible shield (45) can effectively shield the space that may occur during the standing assistance operation by tilting the tilting frame (20) without interfering with the reclining operation of the main body (1020) by elastically deforming while in contact with the rear surface of the main body case member (1021) of the main body (1020) when the seat frame (31) and backrest frame (32) slide in the forward and backward directions relative to the tilting frame (20) to perform the reclining function by the reclining means described below.

[0166] Referring to FIGS. 4, 5, and 10, the main frame (30) supports the buttocks and back of the body, as well as the massage module (100), rack gear (90), etc., and may include a seat frame (31) and a backrest frame (32). A main body case member (1021) covering the main frame (30) and the tilt frame (20), etc. is coupled to the outside of the main frame (30), so that the main frame (30) and the main body case member (1021) move as a single unit.

[0167] The seat frame (31) is rotatably installed on the upper part of the tilting frame (20) to support (or support) the user's buttocks.

[0168] The backrest frame (32) is positioned at the rear end of the seat frame (31) and is formed (or installed) in a shape that extends upward to support the user's back. The seat frame (31) and the backrest frame (32) form a support structure within the seat portion (1101) and backrest portion (1102) of the massage device (1000).

[0169] The seat frame (31) is a part that forms the skeleton of the seat portion (1101), and the backrest frame (32) may be a part that forms the skeleton of the backrest portion (1102). The seat frame (31) and the backrest frame (32) may be connected to each other as a single unit.

[0170] As described above, the seat frame (31) and the backrest frame (32) are formed integrally with each other so that the seat frame (31) and the backrest frame (32) can rotate together, but are not limited thereto. For example, the seat frame (31) and the backrest frame (32) may be connected so as to be able to rotate relative to each other and formed to be physically distinct.

[0171] A rack gear (90) may be installed on a seat frame (31) and a backrest frame (32) as a member that meshes with a pinion gear provided in a massage module (100) to generate driving force for the up-and-down movement of the massage module (100). On the seat frame (31) and the backrest frame (32), a rail may be configured parallel to the rack gear (90) to guide the up-and-down movement of the massage module (100). The rack gear (90) may be made of a metal or plastic material. For example, the rack gear (90) may be made of iron, steel, alloy, reinforced plastic, melamine resin, phenolic resin, etc., but is not limited thereto. Additionally, the rack gear (90) may be made of a flexible material so that it can be flexibly deformed according to the change in angle between the seat frame (31) and the backrest frame (32) when the seat frame (31) and the backrest frame (32) are connected so as to be able to rotate relative to each other.

[0172] According to one embodiment of the present invention, a rack gear (90) may be provided in a form facing each other on both sides of a seat frame (31) and a backrest frame (32), and a massage module (100) may move along the rack gear (90). As shown in FIG. 4, the rack gear (90) is formed in an up-and-down direction, but is not limited thereto. The rack gear (90) may include a rack gear in the forward-backward direction and a rack gear in the up-and-down direction. In the present invention, the forward-backward direction refers to a direction from the massage module (100) toward the user or from the user toward the massage module (100), and may also be referred to as the Z-axis direction.

[0173] The massage module (100) may include a gear that meshes with the rack gear (90). More specifically, the massage module (100) may include a plurality of gears that mesh with the rack gear in the forward-rear direction and the rack gear in the up-down direction, respectively. By rotating the gear by means of an actuator provided in the massage module (100), the massage module (100) can tilt (or rotate) in at least one of the forward direction and the rear direction of the massage module (100), and move in at least one of the upward direction and the downward direction of the massage module (100). As the massage module (100) moves forward, the intensity of the massage may increase. Also, as the massage module (100) moves backward, the intensity of the massage may decrease.

[0174] As illustrated in FIG. 7, the normal state (or normal state) of the massage device (1000) may have the seat frame (31) and the backrest frame (32) tilted backward at a certain angle. For example, in the normal state, the seat frame (31) may be raised upward at approximately 14 to 15° relative to an axis horizontal to the ground. Through this, the user can receive a massage while sitting comfortably in the massage device (1000).

[0175] However, the user must use a lot of force when trying to stand up from the massage device (1000) after using the massage device (1000) because the seat frame (31) and the backrest frame (32) are tilted at a certain angle.

[0176] In order to solve the above-mentioned problem, the massage device (1000) can change the state of the massage device (1000) to a standing assistance state as shown in the right drawing of FIG. 7 by executing the standing assistance mode (or standing assistance function) of the massage device (1000) through the standing assistance device.

[0177] Through this, the massage device (1000) can assist the user in standing up when the user wants to stand up from the massage device (1000) after using the massage device (1000), allowing the user to stand up with less force.

[0178] The standing assistance device will be described in detail below.

[0179] According to one embodiment of the present disclosure, a standing assist device may include a standing assist tilting means.

[0180] The standing assist tilting means can tilt the support structure in at least one of the forward direction (or upward direction) and the rear direction (or downward direction) based on a tilting axis (21) positioned at the front of the support structure and positioned at the bottom of the support structure based on the control of the control unit (1400) (see FIG. 2).

[0181] For example, the standing assist tilting means may include a tilting actuator (60). The tilting actuator (60) may have its front end hinged to the front of the base frame (10) and its rear end hinged to the bottom of the rear end of the tilting frame (20). The tilting actuator (60) may be an electric actuator equipped with an operating rod (61). It may extend and retract while performing linear reciprocating motion by receiving power from a motor that operates by power supplied from the control device of the massage device (1000).

[0182] As described above, the tilting actuator (60) is an electric actuator operated by a motor, but is not limited thereto. For example, the tilting actuator (60) may be a hydraulic actuator having an operating rod that extends by the pressure of a fluid (e.g., air) supplied from a pneumatic supply device (not shown).

[0183] For example, when the standing assistance mode is executed, the control unit (1400) can assist the user in standing by driving the standing assistance tilting means to change the state of the massage device (1000) from a normal state (a state shown in the middle picture of FIG. 7 and FIG. 10) to a standing assistance state, as shown in the right picture of FIG. 7 and FIG. 11. The standing assistance state may be a state in which the seat frame (31) is lowered by approximately 10° relative to an axis horizontal to the ground and the backrest frame (32) rotates forward to approach a vertical axis.

[0184] For example, after use of the massage device (1000), the user can activate the standing assist mode of the massage device (1000) through a command input device provided in the massage device (1000) or a dedicated app on a smartphone. When the standing assist mode is activated, the control unit (1400) can operate the motor of the tilting actuator (60) to extend the operating rod (61), thereby rotating the tilting frame (20) in the forward direction (or upward direction; clockwise in the drawing) around the tilting axis (21). In other words, the control unit (1400) can change the massage device (1000) from a normal state to a standing assist state.

[0185] Through this, the control unit (1400) provides the user with a standing assist force that pushes the user's body forward through the angle change of the tilting frame (20), thereby causing the user to assume a slightly forward standing posture, so that the user can comfortably stand up with a small amount of force in the massage device (1000).

[0186] As another example, the control unit (1400) can assist the user in sitting by driving a standing assist tilting means to change the state of the massage device (1000) from the standing assist state shown in FIG. 11 to the normal state shown in FIG. 10.

[0187] For example, the control unit (1400) can tilt the tilting frame (20) in the rearward direction (or downward direction; counterclockwise in the drawing) around the tilting axis (21) by operating the motor of the tilting actuator (60) to retract the operating rod (61). In other words, the control unit (1400) can assist the user in sitting by tilting the tilting frame (20) backward and returning the tilting frame (20) to its initial position (or normal state) before tilting.

[0188] That is, the standing assist tilting means can assist the user in standing by tilting the support structure toward the front of the massage device, and assist the user in sitting by tilting the support structure toward the rear of the massage device.

[0189] As described above, when the tilting actuator (60) of the standing assist tilting means is operated to perform the standing assist function, the rotation angle of the main body (1020) increases, causing a gap between the lower part of the main body case member (1021) of the main body (1020) and the base case member (1011) of the base part (1010). At this time, a shielding member (40) is installed at the rear end of the tilting frame (20), and since the tilting frame (20) and the shielding member (40) rotate together, the shielding member (40) can cover the space / gap that has opened between the lower part of the main body case member (1021) and the base case member (1011).

[0190] As described above, a massage device (1000) according to one embodiment of the present invention may include a standing assistance function to assist the user in standing, and a reclining function to allow the user to receive a massage in a comfortable position.

[0191] Next, we will explain in detail the reclining means for implementing the reclining function.

[0192] According to one embodiment of the present invention, the seat frame (31) and the backrest frame (32) are installed on the tilting frame (20) so as to be angle-variable vertically by means of a reclining means to perform a reclining function. The reclining means can tilt (or rotate) the seat frame (31) and the backrest frame (32) relative to the tilting frame (20) to vary the angle of the seat frame (31) and the backrest frame (32) relative to the ground (see FIG. 13c).

[0193] Referring to FIGS. 4 and 5, the reclining means may include a reclining rail (72), a plurality of reclining rollers (73), and a reclining actuator (70).

[0194] The reclining rail (72) is formed in a curved shape that is bent vertically and can be installed on both sides of the seat frame (31) and / or backrest frame (32).

[0195] Multiple reclining rollers (73) are installed at the front and rear of the upper part of the tilting frame (20) so as to be inserted into the reclining rail (72) and can guide the reclining rail (72).

[0196] The reclining actuator (70) may include an operating rod (71). One end of the operating rod (71) may be hinged to the rear end of the tilting frame (20) and the other end may be hinged to the front end of the seat frame (31). The operating rod (71) may extend and retract while moving in a straight line by a motor.

[0197] As illustrated in FIGS. 4 and 5, the reclining actuator (70) may be an electric actuator in which the operating rod (71) is operated by a motor, but may be a hydraulic actuator in which the operating rod (71) is extended by the pressure of a fluid supplied from a pneumatic supply device (not shown).

[0198] When the massage device (1000) is in a normal state (or initial position; see FIG. 7 and FIG. 13a) and the motor of the reclining actuator (70) operates to extend the operating rod (71), the reclining rail (72) moves forward under the guidance of the reclining roller (73) of the tilting frame (20), causing the seat frame (31) to rise while the backrest frame (32) can be lowered. Accordingly, the massage device (1000) changes to a zero-gravity state (or reclining state) as shown in the left picture of FIG. 7 and FIG. 13c, allowing the user to lie down.

[0199] When the massage device (1000) is in a zero-gravity state and the motor of the reclining actuator (70) operates in the opposite manner to the above, causing the operating rod (71) to contract, the reclining rail (72) moves backward under the guidance of the reclining roller (73) of the tilting frame (20), thereby causing the seat frame (31) to descend while the backrest frame (32) rises. Accordingly, the massage device (1000) changes to (or returns to) a normal state so that the user can sit down.

[0200] When performing this reclining function, the main body case member (1021) moves together with the seat frame (31) and the main frame (30), and the tilting frame (20) and the shielding member (40) attached to the rear end of the tilting frame (20) remain stationary, so the main body case member (1021) may come into contact with the upper part of the shielding member (40) during the reclining process. Accordingly, as shown in FIG. 12, by installing a flexible shield (45) on the upper part of the shielding member (40), the flexible shield (45) may come into contact with the main body case member (1021) during the reclining process, thereby preventing damage to the parts and ensuring that the reclining function is not hindered.

[0201] Referring to FIGS. 4 and 5 and FIGS. 13a to 13c, a leg frame (50) constituting a support structure of a leg massage unit (1300) (see FIG. 1) can be rotatably connected to the front end of the seat frame (30). The leg frame (50) is configured to support the user's calf and foot portion through a leg drive unit, and can be rotatably installed around a hinge axis (51) installed at the front end of the seat frame (30).

[0202] The leg drive unit can rotate the leg frame (50) around a hinge axis (51). The rear end of the leg drive unit may be hinged to the rear end of the seat frame (30) and the front end may be hinged to the leg frame (50). The leg drive unit may include a leg actuator (80) having an operating rod (81) that extends and retracts while moving in a linear reciprocating motion by a motor.

[0203] Since the leg frame (50) is connected to the front end of the seat frame (30) and installed to extend downward, when the leg frame (50) is folded and the standing actuator (60) is operated to rotate the front end of the seat frame (30) downward, the lower end of the leg frame (50) may be damaged by hitting the floor surface or the base frame (10) and / or the structure installed on the base frame (10), or vibration and noise may occur due to impact.

[0204] To prevent this, a leg hinge bracket (52) is formed at the front end of the seat frame (30) so as to be inclined upward toward the front, and a hinge shaft (51) is installed at the (top) end of the leg hinge bracket (52) so that when the tilting frame (20) rotates upward around the tilting shaft (21) and the standing assist function is executed by the tilting of the tilting frame (20), the bottom of the leg frame (50) does not touch the floor surface (see FIG. 13b). When the standing assist function is executed, the leg frame (50) can be approximately perpendicular to the ground surface.

[0205] In addition, to prevent the lower part of the leg frame (50) from touching the floor surface when the standing assist function is executed, the length of the leg frame (50) may be limited to a specific length or less. In this case, in order to increase the length of the leg frame (50) according to the user's leg length in a state other than the standing assist state, i.e., a normal state and / or a reclining state, the leg frame (50) may be divided vertically and configured to be movable (see FIG. 13c).

[0206] That is, the leg frame (50) can be configured by dividing it into an upper leg frame (50a) connected to a leg hinge bracket (52) via a hinge shaft (51) and a lower leg frame (50b) installed on the lower side of the upper leg frame (50a) so as to be slidable up and down relative to the upper leg frame (50a), and the lower leg frame (50b) can be configured to slide up and down by a length adjustment actuator (not shown). The length adjustment actuator (not shown) may be a known electric actuator operated by a motor, but is not limited thereto.

[0207] Referring to FIGS. 13a through 13c, the distance between the upper leg frame (50a) and the lower leg frame (50b) can be adjusted according to the state of the massage device. For example, in the normal state (standby / normal state) shown in FIG. 13a and in the standing assist state shown in FIG. 13b, the distance between the upper leg frame (50a) and the lower leg frame (50b) can be adjusted to a minimum distance (or less than a preset first distance). Conversely, in the massage operation state or the reclining state shown in FIG. 13c, the distance between the upper leg frame (50a) and the lower leg frame (50b) can be adjusted to a maximum distance (or greater than a preset second distance). In particular, in the latter case, if the user's leg length is measured by a sensor or the like, or if information about the leg length is input and / or stored in the control unit of the massage device, the distance between the upper leg frame (50a) and the lower leg frame (50b) can be appropriately adjusted accordingly. For example, the longer the leg length, the longer the distance between the upper and lower leg frames (50a, 50b), and the shorter the leg length, the shorter the distance between the upper and lower leg frames (50a, 50b).

[0208]

[0209] Hereinafter, the operating mechanism of the arm massage unit, etc., will be described in detail with reference to FIGS. 14 to 21. In order to distinguish the embodiments and effectively explain the embodiments, terms or reference numbers, etc., referring to the configurations of the embodiments described below may differ in some respects from the terms of the previously described embodiments.

[0210] FIGS. 14 to 19 show a massage device (1000) including a rotatable arm massager according to one embodiment of the present invention.

[0211] The massage device (1000) may be configured such that at least one arm massage part (1200) is rotatable in at least one direction relative to the body massage part (1100). For example, the arm massage part (1200) may include first and second arm massage parts disposed on both sides of the body massage part (1100). The first and second arm massage parts may be configured to rotate independently up and down and / or left and right relative to the body massage part (1100).

[0212] Referring to FIGS. 14 and 15, a massage device (1000) according to one embodiment of the present invention may include a main frame (1130) forming the skeleton of the massage device (1000), a body massage unit (1100) for massaging a user's body, and arm massage units (1200) disposed on both sides of the body massage unit (1100) to accommodate each of the user's arms and massage the user's arms.

[0213] As described above, the body massage unit (1100) may be a means of providing massage to at least a part of the user's body. For example, a space may be formed in the body massage unit (1100) to accommodate at least a part of the user's body.

[0214] In one embodiment, the receiving space of the body massage unit (1100) may be a space for a user to sit. That is, the user may sit in the space formed in the body massage unit (1100), and the user may receive a massage while sitting.

[0215] The main frame (1130) may be a means of being placed inside the body massage unit (1100) to form the skeleton of the body massage unit (1100).

[0216] As an optional embodiment, the body massage unit (1100) may include a cover that covers the massage module (1110) placed inside so that it is not exposed to the outside.

[0217] The arm massage unit (1200) may be a means of providing massage or stretching to the user's arm. For example, the arm massage unit (1200) may include various configurations for massaging the user's arm, such as a massage module and an air cell, for providing massage to the user's arm.

[0218] Meanwhile, as described below, the arm massage part (1200) can provide at least one of stretching, other medical treatment, and massage to the user by rotating in at least one direction.

[0219] In the following description, providing a massage to the user's arm should be understood to include not only simply providing a massage (e.g., pressing massage (or acupressure massage), tapping massage, kneading massage, etc.), but also various movements of the arm massage part (1200) provided to the user's arm, such as stretching performed by rotating or extending the user's arm in a specific direction, and at least one of other medical treatments.

[0220] Additionally, the arm massage unit (1200) can be rotated in at least one direction to minimize interference between the arm massage unit (1200) and the user's body when the user sits on the body massage unit (1100) or leaves after use, thereby providing a function that allows the user to sit on or leave conveniently. For example, just before the user sits on the body massage unit (1100) or just before the user leaves the body massage unit (1100), the rotation module can rotate both arm massage units (1200) or one arm massage unit (1200) upward to open at least one side of the body massage unit (1100), thereby making the sitting or leaving motion convenient.

[0221] The arm massage section (1200) may be positioned on both sides of the body massage section (1100). For example, the arm massage section (1200) may be positioned at a location (or area) corresponding to the user's arms within the entire area of ​​both sides of the body massage section (1100). Each arm massage section (1200) may be provided with a space to accommodate the user's arms.

[0222] The arm massage unit (1200) may include an arm support frame (1210) connected to both sides of the main frame (1130). The arm support frame (1210) may rotate around a rotation axis (1230) installed on both sides of the main frame (1130). The rotation axis (1230) may be positioned near one end (or the top) of the upper frame (1131). At this time, the upper ends of both sides of the upper frame (1131) may be located at positions corresponding to the user's shoulders, such as the rear upper ends of the user's shoulders. The rotation axis (1230) may be directly connected to the upper frame (1131) or connected via a bracket, plate, or frame structure near the upper end of the upper frame (1131) corresponding to the rear of the user's shoulders, and may rotate around an axis extending laterally from the upper end of the upper frame (1131).

[0223] A 'C'-shaped armrest groove (1212) that is open laterally inward and rearwardly can be provided on the front side of the armrest frame (1210) to allow the user's arm to be inserted. At least one of an air cell, a massage module, and a heating module capable of massaging the user's arm may be configured in the armrest groove (1212). The air cell can massage by applying pressure to the user's arm area as it expands and contracts through air supply and discharge, and the massage module can be configured to massage the arm area while vibrating by an actuator. The heating module can be configured to provide a massage effect by applying heat to the arm area.

[0224] The armrest frame (1210) can rotate up and down around the rotation axis (1230) by means of a rotation module. The rotation module can be configured to convert the linear motion of an actuator into the rotational motion of the arm massage unit (1200) to rotate the arm massage unit (1200). For example, the rotation module can be configured to rotate the arm massage unit (1200) at a certain angle in the up and down direction of the massage device (1000) around the rotation axis (1230). A rotation module for rotating the arm massage unit (1200) in the up and down direction includes an arm rotation actuator (1250) having one end connected to the main frame (1130) of the body massage unit (1100) and having an extension rod (1251) that extends or contracts in one direction, and a motion conversion member (1260) connected to the other end of the arm rotation actuator (1250) to convert the linear motion of the extension rod (1251) into the rotational motion of the arm massage unit (1200).

[0225] The arm rotation actuator (1250) may be implemented as at least one of a pneumatic, electric, hydraulic, and electric hydraulic actuator to cause the extension rod (1251) to extend and retract. In one example, the arm rotation actuator (1250) may extend or retract by the rotational force of a motor operated by power applied by a control unit (1400, see FIG. 2)) so that the extension rod (1251) moves in a linear reciprocating motion. In another example, the arm rotation actuator (1250) may extend or retract by the extension rod (1251) moving in a linear reciprocating motion by pneumatic and / or hydraulic power applied by the control unit (1400).

[0226] One end of the arm rotation actuator (1250) may be connected to one side of the main frame (1130), and the other end may be connected to a motion conversion member (1260). For example, the arm rotation actuator (1250) may have the end of the extension rod (1251) connected to the motion conversion member (1260), so that as the extension rod (1251) moves in a straight line, rotational force can be transmitted to the arm massage unit (1200) through the motion conversion member (1260).

[0227] A motion conversion member (1260) that converts the linear motion of the extension rod (1251) into the vertical rotational motion of the arm massage unit (1200) can be configured to transmit rotational force to the arm massage unit (1200) while rotating around a rotation axis (1230) coupled to the main frame (1130).

[0228] For example, the motion conversion member (1260) may include a crank head (1261) which is rotatably connected around a rotation axis (1230) that is coupled to the main frame (1130) and has one side coupled to the arm massage member (1200); a crank blade (1262) which is formed to extend radially from the crank head (1261) and has an elongated guide hole (1264) formed therein; and a crank connecting member (1263) which connects the extension rod (1251) of the arm rotation actuator (1250) to the guide hole (1264) and moves along the guide hole (1264).

[0229] The crankhead (1261) may be approximately cylindrical in shape, and may be formed with an axle hole (1261a) that penetrates in both directions, into which a rotation shaft (1230) is inserted and connected at the center. One end of the rotation shaft (1230) is coupled to one side of the upper frame (1131), and the crankhead (1261) can rotate about the rotation shaft (1230). One side of the crankhead (1261) may be coupled to the arm massage unit (1200). For example, one side of the crankhead (1261) may be firmly coupled by a fastening means such as a bolt or screw to a cylindrical rotation coupling unit (1214) formed to protrude inwardly from the rear part of the arm massage unit (1200).

[0230] When one side of the crank head (1261) is coupled to the rotational coupling part (1214) of the arm massage part (1200), so that the crank head (1261) and the arm massage part (1200) are coupled at a predetermined precise position, an anti-misassembly part that guides the coupling position between the crank head (1261) and the arm massage part (1200) may be provided on one side of the crank head (1261) and one side of the arm massage part (1200). For example, the anti-misassembly part may include a plurality of assembly grooves (not shown) formed concavely on one side of the rotational coupling part (1214) of the arm massage part (1200), and a plurality of assembly protrusions (1265) that protrude from one side of the crank head (1261) and are individually inserted into each assembly groove formed in the rotational coupling part (1214).

[0231] The crank blade (1262) may be integrally formed on one side of the crank head (1261). The crank blade (1262) may have a plate shape extending radially on one side of the crank head (1261) and may be formed as a single piece on the crank head (1261).

[0232] As described above, the crank blade (1262) may be formed as a single unit, but is not limited thereto. For example, the crank blade (1262) may be composed of multiple units and extend radially on both sides of the crank head (1261). Multiple crank blades (1262) (hereinafter assumed to be two) may be formed side by side, spaced apart from each other by a certain distance. At this time, the end of the extension rod (1251) of the arm rotation actuator (1250) may be inserted into the space between the two crank blades (1262) and connected to the crank blade (1262) via the crank connecting member (1263) so as to allow relative movement.

[0233] The crank blade (1262) may have a guide hole (1264) for connection with the arm rotation actuator (1250) formed in an elongated shape extending radially from the crank head (1261).

[0234] The crank connecting member (1263) may be composed of a bushing inserted into the guide hole (1264) of the crank blade (1262). The center of the bushing may be connected to the end of the extension rod (1251) of the arm rotation actuator (1250) by a fastener. The fastener may be configured using various fastening means, such as at least one of a bolt, a screw, or a pin.

[0235] As shown in FIG. 19, the motion conversion member (1260) configured in this way can apply a pulling or pushing force to the crank blade (1262) as the crank connecting member (1263), connected to the extension rod (1251) of the arm rotation actuator (1250), slides along the guide hole (1264) of the crank blade (1262) as the extension rod (1251) of the arm rotation actuator (1250) contracts and / or extends. Accordingly, the crank head (1261) rotates around the rotation axis (1230), and the arm massage part (1200) can rotate around the rotation axis (1230).

[0236] According to the rotation module having the above-described configuration, the linear motion of the extension rod (1251) of the arm rotation actuator (1250) is converted into rotational motion through the motion conversion member (1260) and transmitted to the arm massage unit (1200) while the arm rotation actuator (1250) is fixed, so the rotational operation of the arm massage unit (1200) is very smooth, and noise and vibration may not occur during the rotational operation. In other words, the rotation of the arm massage unit (1200) by the arm rotation actuator (1240) and the rotation module has the advantage that, compared to the case where the arm massage unit (1200) is rotated by the arm rotation actuator (1250) alone, the arm rotation actuator (1250) does not oscillate laterally during the process of the extension rod (1251) of the arm rotation actuator (1250) extending and / or contracting, so almost no vibration and noise are generated, the installation space of the arm rotation actuator (1250) can be reduced, and interference between the arm rotation actuator (1250) and other components can be eliminated.

[0237] One end of the arm rotation actuator (1250) can be connected to the main frame (1130). For example, the lower end of the arm rotation actuator (1250) can be connected to an actuator bracket (1280) fixed to the main frame (1130) so as to allow relative rotation by means of a fastening means such as a connecting pin (1282). At this time, the connecting pin (1282) and the rotation axis (1230) can be installed in a direction separated by a certain angle. For example, the connecting pin (1282) and the rotation axis (1230) can be installed in orthogonal directions. Specifically, the connecting pin (1282) is installed in the front-rear direction (Y-axis direction) of the massage device (1000), and the rotation axis (1230) is installed in the left-right direction (X-axis direction) of the massage device (1000), so that when the arm massage part (1200) rotates up and down around the rotation axis (1230), the connecting pin (1282) installed at the lower end of the arm rotation actuator (1250) can resist without rotating relative to the main frame (1130).

[0238] When the extension rod (1251) of the arm rotation actuator (1250) is extended and / or retracted to cause the arm massage part (1200) to rotate, a moment may be generated in the rotational direction of the motion conversion member (1260). This moment may apply force to the connecting pin (1282), which is the connection point between the arm rotation actuator (1250) and the main frame (1130), thereby causing problems such as breakage or damage to the connecting pin (1282), or noise and vibration caused by wear.

[0239] As described above, in order to dampen noise and vibration caused by the moment generated as the arm massage part (1200) rotates when the extension rod (1251) of the arm rotation actuator (1250) extends or contracts, the massage device (1000) may include a damper member (1270). For example, one end (e.g., the lower end) of the arm rotation actuator (1250) may be inserted between the two sides of a 'U'-shaped actuator bracket (1280) that is coupled to the main frame (1130), and may be connected to the actuator bracket (1280) by a connecting pin (1282) that crosses the two sides of the actuator bracket (1280). At this time, the actuator bracket (1280) may be fixedly coupled to the main frame (1130).

[0240] As shown in FIG. 18b, the damper member (1270) is positioned between the lower side of the arm rotation actuator (1250) and the actuator bracket (1280), respectively, and can function to dampen the moment applied to the connecting pin (1282). At this time, the damper member (1270) may be made of an elastic material such as rubber that absorbs external force.

[0241] As described above, the massage device (1000) can provide various massage and stretching functions to the user by operating the arm rotation actuator (1250) of the rotation module to rotate the arm massage part (1200) up and down or left and right of the massage device (1000).

[0242] Additionally, the massage device (1000) can operate a rotation module just before the user sits on the body massage unit (1100) and / or just before the user leaves the body massage unit (1100) to rotate the arm massage unit (1200) and open at least one of the one side and the other side of the body massage unit (1100), thereby allowing the user to conveniently sit on the body massage unit (1100) or leave the body massage unit (1100).

[0243] Meanwhile, as illustrated in FIG. 14 and FIG. 20 to 21, a massage device (1000) according to one embodiment of the present invention may further include leg massage parts (1300) that can rotate individually from each other.

[0244] The leg massage unit (1300) may be provided to correspond to both legs of the user. For example, the leg massage unit (1300) may include a first leg massage unit (1310) corresponding to one leg of the user and a second leg massage unit (1330) corresponding to the other leg of the user.

[0245] The first leg massage unit (1310) and the second leg massage unit (1330) can be controlled independently. For example, the first leg massage unit (1310) and the second leg massage unit (1330) can individually provide massage functions to the user. Additionally, the first leg massage unit (1310) and the second leg massage unit (1330) can be rotated independently. The user may receive different massages on both legs or alternate massages on both legs as needed. Additionally, the user may receive stretching or massage through rotation on both legs. In this case, the first leg massage unit (1310) and the second leg massage unit (1330) can rotate both of the user's legs simultaneously or individually.

[0246] Referring to FIG. 20, the massage device (1000) may include a leg angle actuator (1350) for rotating the leg massage unit (1300). The leg angle actuator (1350) may be placed inside the body massage unit (1100). For example, the leg angle actuator may be connected to a main frame (1130).

[0247] The leg angle actuator (1350) can be driven to extend in one direction. As the leg angle actuator (1350) extends, the leg massage unit (1300) can be rotated. The leg angle actuator (1350) can be provided to correspond individually to the first leg massage unit (1310) and the second leg massage unit (1330), respectively. Two leg angle actuators (1350) are connected to the first leg massage unit (1310) and the second leg massage unit (1330), respectively, to rotate the first leg massage unit (1310) and the second leg massage unit (1330) individually.

[0248] The leg angle actuator (1350) may include a link member (1351) at one end. The link member (1351) may contact the leg massage unit (1300) to provide rotational power to the leg massage unit (1300). A wheel (1351a) may be provided at the end of the link member (1351) on the leg massage unit (1300) side.

[0249] Referring to FIG. 21, the leg massage unit (1300) may be rotatably connected to a leg connecting frame (1131b) disposed on a main frame (1130). The upper frame (1131) may include the leg connecting frame (1131b). The leg connecting frame (1131b) may be provided at the front end of the upper frame (1131). The leg connecting frame (1131b) may be manufactured as a separate member and coupled to the upper frame (1131), or may be manufactured integrally with the upper frame (1131). When the leg connecting frame (1131b) is manufactured integrally with the upper frame (1131), the leg connecting frame (1131b) may represent a component of the upper frame (1131).

[0250] A center support bracket (1530) and side support brackets (1550) may be connected to the center and both ends of the leg connecting frame (1131b). For example, the center support bracket (1530) and the side support brackets (1550) may be welded to the leg connecting frame (1131b) or joined by fastening members such as bolts, rivets, etc. However, the method of joining the center support bracket (1530) and the side support brackets (1550) to the leg connecting frame (1131b) may be replaced by various methods commonly used in the technical field to which the present invention belongs.

[0251] The center support bracket (1530) and the side support bracket (1550) can rotatably fix the leg massage unit (1300).

[0252] The first leg massage unit (1310) and the second leg massage unit (1330) may be positioned in front of the leg connecting frame (1131b). For example, the first leg massage unit (1310) may be positioned on the front right side of the leg connecting frame (1131b), and the second leg massage unit (1330) may be positioned on the front left side of the leg connecting frame (1131b).

[0253]

[0254] Hereinafter, with reference to FIGS. 22 to 29, the specific configuration, processing, and functions of a massage device (hereinafter referred to as the "massage device") (200) according to an embodiment of the present invention (hereinafter referred to as the "second embodiment") that provides a combination standing mode, that is, a standing mode in which the arm massage part, etc. are linked, will be described in detail.

[0255] Some of the terms and / or reference numerals referring to the massage device and its sub-components according to the second embodiment described below may differ from the terms and / or reference numerals of the massage device, etc. described above.

[0256] Since this is due to the instrumental necessity of distinguishing embodiments and effectively explaining them, the configurations of the embodiments described below should be interpreted as being identical or equivalent to the configurations described above, provided that the corresponding technical concept can be implemented at the level of a person skilled in the art.

[0257] For example, the arm massage unit (220) and leg massage unit (260) described in the second embodiment below correspond to the configurations corresponding to the arm massage unit (1200) and leg massage unit (1300) described in the previously described embodiment, and the control unit (250) of the second embodiment corresponds to the configuration corresponding to the control unit (1400, see FIG. 2, etc.) of the previously described embodiment.

[0258] Additionally, in the second embodiment, the arm drive unit (230) that drives the rotation, movement, and length extension of the arm massage unit (220) may correspond to the rotation module or arm rotation actuator (1250) of the previously described embodiment, and the leg drive unit (270) of the second embodiment may correspond to the leg angle actuator (1350) of the previously described embodiment.

[0259] The body massage part (210) of the second embodiment may correspond to the body massage part (1100) of the previously described embodiment and may include a seat part (1101) and a backrest part (1102), etc. as described above.

[0260] Additionally, the body drive unit (240) that changes the angle, posture, position, etc. of the body massage unit (210) may be a standing assist tilting means that can be implemented as a tilting actuator (60) as described above, and depending on the embodiment, may include a reclining means (reclining actuator) that changes the angle of the seat frame and the backrest frame or slides the body massage unit (201, 1100) forward or backward.

[0261] FIGS. 22 and 23 are block diagrams illustrating the detailed configuration of a massage device (200) according to a second embodiment of the present invention, and FIG. 24 is a flowchart explaining a processing process according to an embodiment of the present invention based on the behavioral configuration of the present invention.

[0262] As illustrated in FIG. 22, the massage device (200) of the present invention may be configured to include a body massage unit (210), an arm massage unit (220), an arm driving unit (230), a body driving unit (240), a control unit (250), a leg massage unit (260), a leg driving unit (270), and a detection sensor (280).

[0263] FIGS. 22 and FIGS. 23 are block diagrams of a massage device (200) for explaining a second embodiment of the present invention. Therefore, it is obvious that the massage device (200) of the present invention may additionally include other configurations, etc., in addition to the configurations exemplified in FIG. 22, depending on the embodiment.

[0264] The components of the massage device (200) illustrated in FIG. 22, etc. should be understood as functionally or logically distinct components rather than physically distinct components.

[0265] That is, since each component illustrated in the drawings above corresponds to a component intended to effectively explain the technical concept according to the present invention, it should be interpreted as being within the scope of the present invention if the function performed by the configuration of the present invention can be realized even if each component is integrated or separated; and it goes without saying that components performing the same or similar functions should be interpreted as being within the scope of the present invention regardless of whether there is a match in their names.

[0266] Furthermore, since the control method of the massage device according to the present invention can be implemented as a set of processing or algorithms regarding data processing, handling, control, computation, input / output, etc., it is obvious that it can be implemented in the form of software that is mounted and operated on a device, computer (or equivalent device), module, or sub-component thereof.

[0267] An arm massage unit (220), which is a component of the massage device (200) according to the present invention, may be positioned on the side of a body massage unit (210) that massages at least a part of the user's body, and may be configured to accommodate the user's arm and perform various types and methods of massage operations on the accommodated arm.

[0268] The arm driving unit (230) of the present invention may be configured to perform the function of rotating or moving the arm massage unit (220) in one or more directions or extending (stretching and contracting) the arm massage unit (220) according to a user input signal, an internal algorithm that determines whether preset conditions are satisfied, or the function of the arm massage unit (220). Of course, the arm driving unit (230) may be designed to be controlled by the control unit (250) of the present invention.

[0269] Since the arm massage unit (220) described in this embodiment may correspond in detail to the arm massage unit (1200) described in the previously mentioned embodiment, the detailed description regarding the structure, operation, control, etc. of the arm massage unit (110) according to this embodiment is replaced by the previously described description. The arm driving unit (230) of this embodiment also corresponds to the rotation module or arm rotation actuator (1250), etc. of the previously mentioned embodiment, and is thus the same.

[0270] The body driving unit (240) of the present invention may 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 satisfied, or the function of the body massage unit (210).

[0271] As previously described, the body drive unit (240) of the present invention can slide the body massage unit (210) forward or backward. It is also obvious that the body drive unit (240) can be designed to be controlled by the control unit (250) of the present invention.

[0272] The control unit (250) of the present invention is configured to control the body drive unit (240) so that the body massage unit (210) stands upright forward when the standing mode is initiated (S110, see FIG. 24), and to control the arm drive unit (230) so that the angle of the arm massage unit (220) becomes the reference angle.

[0273] The standing mode described in the present invention is a mode in which the posture, position, etc. of the body massage unit (210) is controlled so that the body massage unit (210) tilts forward or tilts while rising, or a mode equivalent thereto, and corresponds to a unique operation mode of the present invention to improve the ease, convenience, safety, and stability of the action of a user moving away from the massage device (200).

[0274] The state of the standing mode described above corresponds to the standing assist state of the previously described embodiment, and as previously explained, it may include a state in which the seat frame (31) descends at an appropriate angle relative to a horizontal axis with respect to the ground and the backrest frame (32) rotates forward to approach a vertical axis.

[0275] The massage device (200) according to this embodiment is configured such that when the standing mode is activated, the position, posture, and angle of the body massage part (210) are not changed, but the angle, length, posture, etc. of the arm massage part (220) and / or leg massage part (260) are also changed.

[0276] In accordance with the embodiment of the present invention, the convenience, stability, and safety accident prevention efficiency of the otolith (action of moving away from the massage device (200) or an action equivalent thereto, etc.) can be further improved. In this regard, the combination standing mode described in the present invention can be understood as a mode in which the posture, angle, length, etc. of the body massage part (210) and the arm massage part (220) change together.

[0277] The standing mode (abbreviated as 'combination standing mode') can be configured to be initiated by various methods, such as when the ongoing massage ends, when a selection signal is input from the user, or when a predetermined condition is satisfied (S110).

[0278] The control unit (250) of the present invention may be configured to generate control signals (first and second control signals) for driving the body massage unit (210) and the arm massage unit (220), respectively (S120), when the standing mode is initiated, such as when a command signal for the standing mode is input (S110), and to output the generated first and second control signals to the body driving unit (240) and the arm driving unit (230) (S130A, S130B).

[0279] When a first control signal is input from the control unit (250) (S130A), the body driving unit (240) of the present invention drives the body massage unit (210) so that the body massage unit (210) stands upright forward based on the first control signal (S140A). When a second control signal is input from the control unit (250) (S130B), the arm driving unit (230) of the present invention drives the arm massage unit (220) to rotate so that the angle of the arm massage unit (220) becomes a reference angle (S140B).

[0280] When the body massage unit (210) is in an upright position by driving the upright mode, the angle at which the body massage unit (210) is tilted forward (hereinafter referred to as the 'upright angle') (B2, see FIG. 29) can be set in various ways depending on the user's choice, but it may be preferable to set it to an angle that can sufficiently assist the user in standing up or sitting up, such as 60 to 80 degrees relative to the ground, rather than the user's body leaning too far forward.

[0281] It is preferable that when the standing mode is activated, the reference angle formed by the arm massage unit (220) is configured to be automatically set using user identification information stored in a database, such as the standing angle, or to be variably set by the user using an interface means (such as the aforementioned user input unit (1140)).

[0282] In order to enable the user to easily move their body forward by utilizing appropriate support force from the arm area or hand area, it may be desirable for the reference angle to be set to an angle that is horizontal to the ground or an angle equivalent thereto.

[0283] According to the embodiment, if the length of the arm massage part (220) is configured to be expandable / contractable, when the standing mode is operated, the length of the arm massage part (220) can be extended through control of the control part (250), thereby inducing more stable physical support by the arm area.

[0284] In this way, when the arm massage part (220) changes its angle to a reference angle (horizontal angle, etc.) or the length of the arm massage part (220) is extended, it can provide a kind of walking guide, especially for users with limited mobility, thereby allowing the process of dislocation to be guided more safely.

[0285] According to an embodiment, the control unit (250) of the present invention can control the arm massage unit (220) to open outward by an appropriate angle. In this embodiment, additional space can be secured for the user to move out of the massage device (200), thereby more effectively implementing convenience due to otoliths.

[0286] The movement of changing the posture of the body massage part (210) to an upright posture and the movement of changing the angle of the arm massage part (220) to a reference angle are both intended to effectively implement the user's convenience, etc., so they can each be performed independently.

[0287] However, if one action is performed in a completely different time interval from another action, not only may time efficiency be low, but it may also cause inconvenience to the user. Therefore, it is desirable that the time intervals in which the body massage part (210) and the arm massage part (220) are performed in the standing mode partially overlap or correspond to each other entirely.

[0288] In this regard, to improve time efficiency and user predictability in changing the user's posture to a posture optimized for the otolith, the control unit (250) of the present invention may be configured to control the arm driving unit (230) so that the angle of the arm massage unit (220) becomes a reference angle during the process in which the posture of the body massage unit (210) is changed to a standing posture by the standing mode.

[0289] More preferably, the control unit (250) of the present invention can control the point in time when the standing posture of the body massage unit (210) is completed and the point in time when the angle of the arm massage unit (220) becomes a reference angle to correspond to each other.

[0290] The arm massage unit (220) may be provided in multiple units (1201, 1202; see FIG. 1), and these multiple arm massage units (220) may be driven individually or in a mutually interconnected manner by each driving unit, the first arm driving unit (230A) and the second arm driving unit (230B).

[0291] A leg massage unit (260), which is a component of the massage device (200) according to the present invention, may be provided at the lower part of the body massage unit (210) and may be configured to accommodate a user's leg / foot area and perform various types and methods of massage operations on the accommodated leg / foot area.

[0292] The leg drive unit (270) of the present invention may be configured to perform the function of rotating or moving the leg massage unit (260) or extending (stretching and contracting) the leg massage unit (260) according to a user input signal, an internal algorithm that determines whether preset conditions are satisfied, or the function of the leg massage unit (260). Of course, the leg drive unit (270) may be designed to be controlled by the control unit (250) of the present invention.

[0293] As illustrated in FIG. 23, the leg drive unit (270) of the present invention may include a first leg drive unit (270) and a second leg drive unit (270) for driving individual leg massage units.

[0294] Since the leg massage unit (260) described in this embodiment may correspond to the leg massage unit (1300) described in the previously mentioned embodiment, the details regarding the structure, operation, control, etc. of the leg massage unit (260) according to this embodiment are replaced by the description previously provided. The leg driving unit (270) of this embodiment also corresponds to the leg angle actuator (1350), etc. of the previously mentioned embodiment, and is thus the same.

[0295] The control unit (250) of the present invention may be configured to control the leg drive unit (270) so that when the standing mode is initiated, the angle (C1, see FIG. 29) that the lower part of the leg massage unit (260) makes with the ground becomes horizontal.

[0296] In this configuration, the user's slip can be effectively prevented, and convenience and safety can be enhanced when the user steps forward out of the massage device (200).

[0297] As described above, in the case of the massage device (200) according to one embodiment of the present invention, when the standing mode is activated, one or more of the body massage unit (210), arm massage unit (220) and leg massage unit (260) are adjusted so that the angle, posture, length, position, etc. are optimized for the otolith.

[0298] The sensing sensor (280) of the present invention may be a Hall sensor, a magnet sensor, a limit sensor, an encoder, an optical sensor, a pressure sensor, a displacement sensor or a mechanical switch, a current sensor, a voltage sensor, a speed sensor, or a timer, but is not limited thereto.

[0299] Additionally, the sensing sensor (280) may indirectly calculate the position of the leg massage unit (260) or arm massage unit (220), such as the length and / or angle, by measuring the rotational speed, motor driving time, motor current, etc. of a predetermined motor for adjusting the position of the leg massage unit (260) or arm massage unit (220), and may be a sensing means for indirectly estimating the position of the leg massage unit (260) or arm massage unit (220), such as the length and / or angle, through control techniques such as PID control (Proportional-Integral-Differential control) and sliding mode control.

[0300] FIG. 28 is a drawing illustrating the operation process of the body massage unit (210), arm massage unit (220), and leg massage unit (260), which are components of the massage device (200), in chronological order (A *?* B *?* C *?* D) by driving the standing mode. FIG. 28 (D) and FIG. 29 (B) are drawings illustrating an example of the massage device (200) in a state where the standing mode is completed.

[0301]

[0302] FIG. 25 is a flowchart illustrating a processing process according to an embodiment of the present invention. When the standing mode is initiated (S200), the control unit (250) of the present invention checks the current state (angle, length, position, etc.) of one or more of the body massage unit (210), arm massage unit (220), and leg massage unit (260) (S210).

[0303] Various methods may be applied to check the current state, such as using detection signals from sensors that sense the position, length, angle, etc., of the configuration, or using drive-related information (rotational speed of a motor or gear, travel length of a cylinder or operating rod, etc.) of actuators or drive units that drive the configuration.

[0304] As described above, information regarding the standing angle of the body massage unit (210), information regarding the reference angle of the arm massage unit (220) in the standing mode, etc., can be stored in advance, so the control unit (250) of the present invention calculates the amount of angle displacement for the standing mode of the body massage unit (210), arm massage unit (220), etc. using the stored information, etc.

[0305] Specifically, the control unit (250) of the present invention may be configured to calculate the difference between the current angle (position, etc.) and the standing angle (angle relative to the standing posture) of the body massage unit (210) and the difference between the current angle and the reference angle of the arm massage unit (220) (S220A, BS220B).

[0306] When such computation processing is completed, the control unit (250) of the present invention determines the rotational angular velocity of the body massage unit (210) and / or the rotational angular velocity of the arm massage unit (220) using the computation result (S230).

[0307] The rotational angular velocity can be configured to be determined using the hardware specifications of the drive unit (actuator, etc.) and / or appropriate time information for switching to the upright mode.

[0308] When the rotational angular velocity of the body massage unit (210) and / or arm massage unit (220) is determined in this manner, the control unit (250) of the present invention generates a control signal containing the determined rotational angular velocity information (S240) and transmits it to the body driving unit (240) and / or arm driving unit (230) (S250).

[0309] As mentioned above, in order to improve user convenience, operational stability, and time efficiency regarding the transition to standing mode, it is desirable that the point at which the standing posture of the body massage unit (210) is completed and the point at which the angle of the arm massage unit (220) becomes the reference angle correspond to each other.

[0310] As a specific embodiment thereof, the control unit (250) of the present invention may be configured to determine the rotational angular velocity of the arm massage unit (220) in the standing mode according to the following formula.

[0311]

[0312] In the above formula, W A is the rotational angular velocity of the arm massage part (220) by the standing mode, A A is the amount of angular displacement of the arm massage part (220) for the reference angle, W B is the rotational angular velocity of the body massage part (210) by the standing mode, and A B is the amount of angular displacement of the body massage part (210) for the standing posture of the body massage part (210).

[0313] The above formula is based on the premise that the time required for the body massage unit (210) to transition to a standing posture by the standing mode and the time required for the angle of the arm massage unit (220) to transition to a reference angle correspond to each other. Therefore, when the rotational angular velocity of the arm massage unit (220) is determined by the above formula, the point in time when the standing posture of the body massage unit (210) is completed and the point in time when the angle of the arm massage unit (220) becomes the reference angle correspond to each other.

[0314] The above formula is a formula for determining the rotational angular velocity of the arm massage unit (220) using the rotational angular velocity of the body massage unit (210) as a parameter. In this regard, if the rotational angular velocity of the arm massage unit (220) is predetermined, the rotational angular velocity of the body massage unit (210) can also be determined by using a transformation of the above formula. Even if such a method is applied, the point at which the standing posture of the body massage unit (210) is completed and the point at which the angle of the arm massage unit (220) becomes the above reference angle correspond to each other.

[0315] According to the embodiment, the amount of angular displacement (A2-A1, see FIG. 29) of the arm massage part (220) in the standing mode can be set to be greater than the amount of angular displacement (B2-B1) of the body massage part (210) in the standing mode.

[0316] According to this embodiment, the operational relationship between the arm massage unit (220) and the body massage unit (210) can be distinguished more clearly, and the phenomenon of the user’s body leaning forward due to a change in the angle (tilt) of the body massage unit (210) can be effectively suppressed through the rotation of the arm massage unit (220) having a larger amount of displacement.

[0317]

[0318] FIG. 26 is a flowchart illustrating a processing process according to another embodiment of the present invention. The embodiment of the present invention described in FIG. 26 corresponds to an embodiment in which a restoration mode is performed to restore the body massage unit (210) and / or arm massage unit (220) to a reference position, etc., before the operation by the standing mode is performed.

[0319] The control unit (250) of the present invention checks whether a reference position restoration mode is selected by user settings, etc. when the standing mode is initiated (S300) (S310).

[0320] If the reference position restoration mode is not selected, the processing (S350) for the standing mode as described above can be configured to be performed immediately.

[0321] When the reference position restoration mode is selected (S310), the control unit (250) of the present invention performs processing to restore the leg massage unit (260) and / or arm massage unit (220) to a reference position, reference posture, reference length, etc. (S320).

[0322] If the standing mode is activated immediately from the current state of the body massage unit (210), arm massage unit (220), leg massage unit (260), etc., user injury may occur, it may be preferable to first activate the operation to restore the body massage unit (210), arm massage unit (220), leg massage unit (260), etc. to the most generalized state, for example, the normal state (or normal state) of the aforementioned embodiment.

[0323] In a specific embodiment, the control unit (250) of the present invention can control the length or angle of the leg massage unit (260) to become a first reference value when the standing mode is initiated, and can also control the angle of the arm massage unit (220) to become a second reference value.

[0324] The first reference value above refers to the length and / or angle of the leg massage part (260) according to the normal state (reference position) of the massage device (200) described above, and the second reference value above may refer to the length and / or angle of the arm massage part (220) according to the normal state of the massage device (200).

[0325] Preferably, the control unit (250) of the present invention can perform a processing to confirm that the leg massage unit (260) or / and arm massage unit (220) is restored to a reference position using a detection signal input from a detection sensor (280) that detects the position of the leg massage unit (260) or / and arm massage unit (220) (S330).

[0326] The massage device (200) according to the present invention can effectively prevent user injury, etc. through this configuration, and can also prevent device malfunction, etc. in advance.

[0327] That is, the control unit (250) of the present invention controls the processing (S350) by the standing mode to be performed only when it is confirmed that the leg massage unit (260) or / and the arm massage unit (220) is restored to a reference position.

[0328] Even if the reference position restoration mode is activated, if the arm massage unit (220) or / and the leg massage unit (260) is not restored to the reference position, there may be problems such as device malfunction or problems such as an object (part of the body, clothing, external object, etc.) interfering in the rotation / movement path of the arm massage unit (220) or / and the leg massage unit (260).

[0329] Therefore, when a detection signal indicating that the arm massage unit (220) and / or leg massage unit (260) is not restored to a reference position, etc. is received from the detection sensor (280), it is preferable for the control unit (250) of the present invention to control the output of appropriate guidance information regarding this through a screen display means, an audio output means, etc. (S360). If the user is listening to music through earphones, speakers, etc. provided in the massage device (200), the vibration means (haptic) provided in the massage device (200) may be controlled to be driven.

[0330] Additionally, the control unit (250) of the present invention may control the arm massage unit (220) and / or leg massage unit (260) to be restored to a reference position (S380) when a reference time has elapsed after the execution of the standing mode (S350) is completed, or when a user non-detection signal, i.e., that the user is not located on the massage device (200), is confirmed through a sensor, etc. (S370). In this case, the body massage unit (210) in the standing position may also be restored to a predetermined reference position (normal state).

[0331]

[0332] FIG. 27 is a flowchart illustrating an embodiment of the present invention in which air cells (221, 261) are controlled.

[0333] The control unit (250) of the present invention can control the first air cell (221) provided in the arm massage unit (220) and / or the second air cell (261) provided in the leg massage unit (260) to expand when the standing mode is activated (S400) (S410).

[0334] As previously explained, the standing mode is designed for the convenience of the otolith, and therefore the user's body may tilt forward. Consequently, safety accidents may occur during the standing mode process, particularly for children, the elderly, or users with physical disabilities who may lack strength. Additionally, safety accidents such as slipping may occur if the user performs sudden movements before the standing mode is completed.

[0335] The massage device (200) according to the present invention can induce the user's body to be firmly supported even if the user's body tilts forward or the user's posture changes, by controlling the first air cell (221) provided in the arm massage part (220) and / or the second air cell (261) provided in the leg massage part (260) to expand when a standing mode is formed (S410).

[0336] The control unit (250) of the present invention can control the first air cell (221) and / or the second air cell (261) to inflate at the time when the standing mode is initiated, and according to the embodiment, the first air cell (221) and / or the second air cell (261) may be controlled to inflate gradually based on the time when the standing mode is initiated so as to minimize user discomfort or pressure. Since the inclination of the body massage unit (210) does not change significantly during the initial stage when the standing mode is operated, even if configured in this way, it may not have a significant impact on the occurrence of safety accidents.

[0337] Through this configuration, the massage device (200) according to the present invention can effectively prevent problems that may occur during the process of the standing mode and can further improve the completeness of the standing mode operation.

[0338] When the standing motion by the standing mode is completed, for example, when the angle of the arm massage unit (220) becomes the reference angle or when the standing posture of the body massage unit (210) is completed, the control unit (250) of the present invention can control the first air cell (221) to contract so that the degree of freedom of the user's action motion is increased (S430).

[0339] In this regard, the control unit (250) of the present invention controls the second air cell (261) to contract when the lower part of the leg massage unit (260) becomes horizontal with the ground or when the standing posture of the body massage unit (210) is completed (S430).

[0340]

[0341] Although the present invention has been described above by 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 spirit of the present invention and the equivalent scope of the claims described below by those skilled in the art to which the present invention belongs.

[0342] In the description of the present invention described above, modifiers such as "first," "second," etc., are merely instrumental conceptual terms used to relatively distinguish components from one another, and should be interpreted as not being used to indicate a specific order, priority, etc.

[0343] Although the drawings and other accompanying materials for the description of the present invention and the illustration of embodiments thereof may be depicted in a somewhat exaggerated form to emphasize or highlight the technical content according to the present invention, it should be interpreted as obvious to a person skilled in the art that various modified applications are possible by considering the aforementioned descriptions and the details illustrated in the drawings.

[0344] The control method of the massage device (100) 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-ROM, RAM, ROM, floppy disk, magnetic disk, hard disk, magneto-optical disk, etc.) in which data that can be read by a computer is stored, and also includes a server for wired or wireless internet transmission.

Claims

A body massage part that massages at least a part of the user's body; An arm massage unit positioned on the side of the above-mentioned body massage unit; An arm drive unit that rotates the above arm massage unit; A leg massage unit provided at the lower part of the above body massage unit; A sensing sensor for detecting the position of the leg massage unit or the arm massage unit; and A massage device characterized by including a body driving unit that changes the position or posture of the body massage unit. In paragraph 1, A massage device characterized by further including a control unit that controls the body drive unit so that the leg massage unit stands upright forward when the position of the leg massage unit or the arm massage unit is confirmed to be a reference position using the above detection sensor. In paragraph 2, the control unit is, A massage device characterized by controlling the arm driving unit so that the arm massage unit becomes a reference angle. In paragraph 3, the above reference angle is, A massage device characterized by the arm massage part being at an angle horizontal to the ground. In paragraph 3, the control unit is, A massage device characterized by controlling the arm drive unit so that the angle of the arm massage unit becomes the reference angle during the process in which the posture of the body massage unit is changed to an upright posture. In paragraph 3, the control unit is, A massage device characterized by controlling the point in time when the standing posture of the body massage part is completed and the point in time when the angle of the arm massage part becomes the reference angle to correspond to each other. In paragraph 3, the control unit is, A massage device characterized by determining the rotational angular velocity of the arm massage part according to the following formula. In the above formula, WA is the rotational angular velocity of the arm massage part, AA is the angular displacement of the arm massage part for the reference angle, WB is the rotational angular velocity of the body massage part standing upright, AB is the angular displacement of the body massage part standing upright, and in the above formula, the unit of rotational angular velocity is ° / sec and the unit of angular displacement is °. In paragraph 3, A massage device characterized in that the angular displacement of the arm massage part is greater than the angular displacement of the body massage part. In paragraph 2, It further includes a leg drive unit that adjusts the length or angle of the leg massage unit, and The above control unit is, A massage device characterized by controlling the leg drive unit so that the lower part of the leg massage unit becomes horizontal with the ground when the sea massage unit is erected forward. In paragraph 2, It further includes a first air cell provided in the above-mentioned arm massage part, and The above control unit is, A massage device characterized by controlling the first air cell to expand when the above sea massage part is erected forward. In item 10, the above control unit is, A massage device characterized by controlling the first air cell to contract when the angle of the arm massage part becomes a reference angle or when the body massage part becomes an upright position. In paragraph 2, It further includes a second air cell provided in the leg massage part above, and The above control unit is, A massage device characterized by controlling the second air cell to expand when the above sea massage part is erected forward. In Clause 12, the control unit above is, A massage device characterized by controlling the second air cell to contract when the lower part of the leg massage unit becomes horizontal with respect to the ground or when the body massage unit assumes an upright position. A method for controlling a massage device according to any one of claims 1 to 13, A signal input step in which a start signal for forward standing of the body massage unit is input; and It includes a control step for controlling the body drive unit so that the body massage unit is erected forward, and A control method for a massage device characterized by the above control step being performed when the position of the leg massage part or the arm massage part is confirmed to be a reference position using the above detection sensor. A body massage part that massages at least a part of the user's body; An arm massage part disposed on the side of the above-mentioned body massage part; and A massage device characterized by including a control unit that controls the body massage unit to stand upright forward and controls the arm massage unit to rotate in the opposite direction to the direction in which the body massage unit stands upright. In item 15, the above body massage unit is, Includes a seat and a backrest, The above control unit is, A massage device characterized by controlling the arm massage part to rotate away from the seat part when the body massage part stands upright forward. In item 15, the above arm massage section, It includes a rear end portion positioned on the side of the body massage portion and a body portion that rotates relative to the rear end portion. The above control unit is, A massage device characterized by controlling the arm massage part to rotate in a direction away from the body part. In paragraph 15, It further includes a body drive unit that changes the position or posture of the body massage unit, and The above control unit is, A massage device characterized by controlling the body drive unit so that the body massage unit is erected forward. In paragraph 15, It further includes an arm driving unit that rotates the above arm massage unit, and A massage device characterized by the above-described control unit controlling the arm drive unit so that the arm massage unit rotates. In Clause 19, the above control unit is, A massage device characterized by controlling the arm driving unit so that the angle of the arm massage unit becomes a reference angle. In paragraph 15, It further includes a leg drive unit that adjusts the length or angle of the leg massage unit, and The above control unit is, A massage device characterized by controlling the leg drive unit so that the lower part of the leg massage unit becomes horizontal with the ground when the body massage unit is in an upright position. In Clause 21, the control unit is, A massage device characterized by controlling the leg drive unit so that the length or angle of the leg massage unit becomes a first reference value before the body massage unit is erected forward. A method for controlling a massage device according to any one of paragraphs 15 to 22, A signal input step in which a start signal for forward standing is input; and A control method for a massage device characterized by including a control step of controlling the body massage unit to stand upright forward and controlling the arm massage unit to rotate in a direction opposite to the direction in which the body massage unit stands upright. A body massage part that massages at least a part of the user's body; An arm massage unit positioned on the side of the above-mentioned body massage unit; A leg massage unit positioned below the above body massage unit; Air cells provided in one or more of the above leg massage unit and the above arm massage unit; and A massage device characterized by including a control unit that controls the body massage unit to stand upright forward and the air cell to expand. In paragraph 24, the control unit above is, A massage device characterized by controlling the air cell to gradually expand when the body massage part stands upright forward. In paragraph 25, the above control unit is, A massage device characterized by controlling the air cell to gradually expand based on the point at which the forward standing of the body massage part begins. In paragraph 24, the control unit above is, A massage device characterized by controlling the air cell to contract when the body massage part is in an upright position. In paragraph 24, the control unit above is, A massage device characterized by controlling the arm massage unit to rotate in the opposite direction to the direction in which the body massage unit stands up when the body massage unit stands up forward. In Clause 28, the above body massage part is, Includes a seat and a backrest, The above control unit is, A massage device characterized by controlling the arm massage part to rotate away from the seat part when the body massage part stands upright forward. In Clause 29, the above arm massage section, It includes a rear end portion positioned on the side of the body massage portion and a body portion that rotates relative to the rear end portion. The above control unit is, A massage device characterized by controlling the arm massage part to rotate in a direction away from the body part. In paragraph 24, It further includes a leg drive unit that adjusts the length or angle of the leg massage unit, and The above control unit is, A massage device characterized by controlling the leg drive unit so that the lower part of the leg massage unit becomes horizontal with the ground when the body massage unit is in an upright position. A method for controlling a massage device according to any one of paragraphs 24 to 31, A signal input step in which a start signal for forward standing is input; and A control method for a massage device characterized by including a control step of controlling the body massage part to stand upright forward and the air cell to expand.

Images