Shoulder massage method based on shoulder height adjustment algorithm, system, and device

Abstract

The present invention relates to a shoulder massage method based on a shoulder height adjustment algorithm, a system, and a device. The method comprises: S1: acquiring an initial shoulder height of a user; S2: calculating a massage strength of a second massage apparatus according to body parameters of the user, the body parameters comprising a height, a weight, a skeletal muscle mass, a body pressure distribution index, and a muscle tone index; S3: controlling the second massage apparatus to move to the initial shoulder height to start massage, and cyclically collecting a real-time massage shoulder height of the user according to a preset interval by means of an infrared emitter-receiver pair of the second massage apparatus; and S4: acquiring a control signal of movement of the second massage apparatus using a shoulder height adjustment algorithm according to the massage shoulder height, and dynamically adjusting a position of the second massage apparatus on the basis of the control signal.

Description

A shoulder massage method, system, and device based on a shoulder height adjustment algorithm. Technical Field

[0001] This invention relates to a shoulder massage method, system, and device based on a shoulder height adjustment algorithm, belonging to the field of massage chair management technology. Background Technology

[0002] Shoulder massage, as an effective method to relieve neck and shoulder muscle tension, promote blood circulation, and improve posture, has been widely used in recent years. With the accelerating pace of work and increasing life pressure, shoulder and neck massage chairs have become essential health equipment in many homes and workplaces. Traditional massage chair shoulder massage methods are mostly based on preset, fixed massage points, which cannot adapt to individual differences among users, resulting in varying massage effects and potentially causing discomfort for some users.

[0003] Traditional massage chairs often use fixed massage points and intensities, failing to personalize the massage to individual user differences. This results in a significantly reduced massage effect and may even cause discomfort or injury to some users. Traditional solutions lack real-time monitoring systems, making it impossible to dynamically adjust the massage position based on changes in the user's body during the massage (such as a decrease in shoulder height due to muscle relaxation), affecting the continuity and effectiveness of the massage. Furthermore, traditional massage chairs are often designed only based on basic body parameters such as height and weight, neglecting more nuanced body characteristics such as skeletal muscle mass, body pressure distribution, and muscle tension, leading to inaccurate settings for massage intensity and location.

[0004] Existing technology, such as Chinese Patent No. CN113081654B, discloses a massage chair control method and massage chair for misaligning the scapulae. The method includes the following steps: detecting the shoulder position and presetting the shoulder position as the position of the second thoracic vertebra; acquiring the pulse when the massage chair's mechanism reaches the shoulder position, denoted as the shoulder pulse; acquiring the position of the seventh thoracic vertebra based on human body dimensions and structure, and acquiring the pulse when the massage chair's mechanism reaches the position of the seventh thoracic vertebra based on the relative distance between the seventh thoracic vertebra and the second thoracic vertebra position, and the shoulder pulse, denoted as the elbow pulse; and positioning the massage chair's kneading ball head at the narrowest point between the two scapulae on the back, thus misaligning the scapulae, while the massage chair's mechanism operates between the shoulder pulse and the elbow pulse.

[0005] The problem with the existing technology is that determining the shoulder position by the time difference during the movement of the movement mechanism is susceptible to various factors, such as the movement speed of the movement mechanism, the accuracy of the sensor, and individual differences of the user, which limits the accuracy of shoulder positioning. In determining the shoulder position and massage range, it mainly relies on preset algorithms and human body size and structure data, while giving less consideration to individual differences of the user and their real-time physical condition. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention proposes a shoulder massage method, system, and device based on a shoulder height adjustment algorithm.

[0007] The technical solution of the present invention is as follows:

[0008] On one hand, the present invention provides a shoulder massage method based on a shoulder height adjustment algorithm, including a first massage device and a second massage device, comprising the following steps:

[0009] S1: Obtain the user's initial shoulder height;

[0010] The method for obtaining shoulder height is as follows:

[0011] D1: Use the first massage device to massage the user's back starting from the first preset position;

[0012] D2: Move the first massage device upwards to the second preset position; and record the position data where the infrared pair signal disappears during the movement of the first massage device;

[0013] D3: Move the first massage device downwards to the first preset position; and record the position data of the infrared phototransistor signal during the movement of the first massage device;

[0014] D4: Move the first massage device upwards to the second preset position; and record the position data where the infrared pair signal disappears during the movement of the first massage device;

[0015] D5: Move the first massage device downwards to the first preset position and end the operation of the first massage device; calculate the standard score Z-score of the position data and remove outliers; use the median of the position data as the user's initial shoulder height;

[0016] S2: Calculate the massage intensity of the second massage device based on the user's body parameters; the body parameters include height, weight, skeletal muscle mass, body pressure distribution index, and muscle tension index;

[0017] S3: Control the second massage device to move to the initial shoulder height to start the massage, and collect the user's real-time massage shoulder height in a loop according to the preset interval time through the infrared photocell of the second massage device;

[0018] S4: Based on the massage shoulder height, use a shoulder height adjustment algorithm to obtain a control signal for the movement of the second massage device, and dynamically adjust the position of the second massage device based on the control signal.

[0019] In a preferred embodiment, the method for labeling outliers is as follows:

[0020] Copy the recorded three location data points into six location data points;

[0021] Calculate the mean of the data from the six locations:

[0022] in, x represents the mean. k This represents the data at the k-th position;

[0023] Calculate the standard deviation of the location data based on the mean:

[0024] Where s represents the standard deviation, x i This represents the data at the i-th position;

[0025] Calculate the standard score Z-score for the location data based on the mean and standard deviation:

[0026] Among them, Z i The Z-score represents the standard score of the data at position i.

[0027] Data points with a Z-score greater than 3 or less than -3 are marked as outliers. In a preferred embodiment, the massage intensity of the second massage device is calculated as follows:

[0028] Where F represents massage intensity, W represents user weight, H represents user height, M represents user skeletal muscle mass, and P represents body pressure distribution index. max This represents the preset maximum pressure distribution index value, and T represents the muscle tension index. max This represents the preset maximum muscle tension value, and α, β, γ, and δ represent preset adjustment parameters.

[0029] As a preferred embodiment, the method for obtaining the control signal using the shoulder height adjustment algorithm is as follows:

[0030] Where, k p Represents the proportional gain, k i Represents the integral gain, k dDifferential gain, u(n) represents the control signal at the nth sampling time, e(n) represents the error at the nth sampling time, e(n-1) represents the error at the (n-1)th sampling time, T represents the sampling time, and e(i) represents the error at the ith sampling time;

[0031] The error e(n) at the nth sampling time is calculated as follows: e(n) = h target (n)-h current (n);

[0032] Among them, h target (n) represents the massage shoulder height collected by the infrared sensor of the second massage device at the nth moment, h current (n) represents the height of the second massage device at the nth moment.

[0033] As a preferred embodiment, the method for adjusting the position of the second massage device is as follows:

[0034] Calculate the height that needs to be adjusted at time n:

[0035] in, Let h(n) represent the scaling factor, and h(n) represent the height adjusted at the nth time.

[0036] Adjust the height at time n+1 based on the height required at time n: h current (n+1)=h current (n)+h(n);

[0037] Among them, h current (n+1) represents the height of the second massage device at time n+1.

[0038] On the other hand, the present invention also provides a shoulder massage system based on a shoulder height adjustment algorithm, including a first massage device and a second massage device, comprising:

[0039] Initial shoulder height acquisition module: Acquires the user's initial shoulder height;

[0040] The method for obtaining shoulder height is as follows:

[0041] D1: Use the first massage device to massage the user's back starting from the first preset position;

[0042] D2: Move the first massage device upwards to the second preset position; and record the position data where the infrared pair signal disappears during the movement of the first massage device;

[0043] D3: Move the first massage device downwards to the first preset position; and record the position data of the infrared phototransistor signal during the movement of the first massage device;

[0044] D4: Move the first massage device upwards to the second preset position; and record the position data where the infrared pair signal disappears during the movement of the first massage device;

[0045] D5: Move the first massage device downwards to the first preset position and end the operation of the first massage device; calculate the standard score Z-score of the position data and remove outliers; use the median of the position data as the user's initial shoulder height;

[0046] Massage intensity calculation module: Calculates the massage intensity of the second massage device based on the user's body parameters; the body parameters include height, weight, skeletal muscle mass, body pressure distribution index, and muscle tension index;

[0047] Shoulder massage module: controls the second massage device to move to the initial shoulder height to start the massage, and collects the user's real-time massage shoulder height in a cyclical manner according to the preset interval time through the infrared phototransistor of the second massage device;

[0048] Massage device adjustment module: Based on the massage shoulder height, a shoulder height adjustment algorithm is used to obtain the control signal for the movement of the second massage device, and the position of the second massage device is dynamically adjusted based on the control signal.

[0049] In another aspect, the present invention also provides an electronic device having a computer program stored thereon, which, when executed by a processor, implements a shoulder massage method based on a shoulder height adjustment algorithm as described in any embodiment of the present invention.

[0050] The present invention has the following beneficial effects:

[0051] This invention adjusts the massage position by acquiring the user's initial shoulder height and collecting data in real time during the massage process, ensuring that the massage device always conforms to the actual height of the user's shoulders. This personalized positioning method provides a more precise massage service compared to the fixed massage points in existing technologies. Based on the user's height, weight, skeletal muscle mass, body pressure distribution index, and muscle tension index, the most suitable massage intensity can be calculated. This customized massage intensity ensures that the massage is both comfortable and effective, meeting the user's individual needs. Using sensors such as infrared sensors to monitor the user's shoulder height data in real time, the massage position can be dynamically adjusted according to changes in the user's body during the massage. This real-time response mechanism ensures the continuity and effectiveness of the massage, avoiding displacement of the massage position due to body movement or muscle relaxation. Based on the real-time monitored shoulder height data, a shoulder height adjustment algorithm can be used to calculate and generate control signals for the movement of the massage device in real time, thereby dynamically adjusting the position of the massage device. This dynamic adjustment method provides a more flexible and adaptable massage service compared to the fixed massage modes in existing technologies. Attached Figure Description

[0052] Figure 1 is a flowchart of the implementation of the method of the present invention. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] It should be understood that the step numbers used in the text are for ease of description only and are not intended to limit the order in which the steps are performed.

[0055] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0056] The terms “comprising” and “including” indicate the presence of the described feature, whole, step, operation, element and / or component, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0057] The term “and / or” refers to any combination of one or more of the associated listed items, as well as all possible combinations, and includes these combinations.

[0058] Example 1:

[0059] Referring to Figure 1, this invention provides a shoulder massage method based on a shoulder height adjustment algorithm, including a first massage device and a second massage device, comprising the following steps:

[0060] S1: Obtain the user's initial shoulder height;

[0061] The method for obtaining shoulder height is as follows:

[0062] D1: Use the first massage device to massage the user's back starting from the first preset position;

[0063] D2: Move the first massage device upwards to the second preset position; and record the position data where the infrared pair signal disappears during the movement of the first massage device;

[0064] D3: Move the first massage device downwards to the first preset position; and record the position data of the infrared phototransistor signal during the movement of the first massage device;

[0065] D4: Move the first massage device upwards to the second preset position; and record the position data where the infrared pair signal disappears during the movement of the first massage device;

[0066] D5: Move the first massage device downwards to the first preset position and end the operation of the first massage device; calculate the standard score Z-score of the position data and remove outliers; use the median of the position data as the user's initial shoulder height;

[0067] S2: Calculate the massage intensity of the second massage device based on the user's body parameters; the body parameters include height, weight, skeletal muscle mass, body pressure distribution index, and muscle tension index; the body parameters can be directly obtained through an integrated acquisition device.

[0068] S3: Control the second massage device to move to the initial shoulder height to start the massage, and collect the user's real-time massage shoulder height in a loop according to the preset interval time through the infrared photocell of the second massage device;

[0069] S4: Based on the massage shoulder height, use a shoulder height adjustment algorithm to obtain a control signal for the movement of the second massage device, and dynamically adjust the position of the second massage device based on the control signal.

[0070] In a preferred embodiment, the method for labeling outliers is as follows:

[0071] Copy the recorded three location data points into six location data points;

[0072] Calculate the mean of the data from the six locations:

[0073] in, x represents the mean. k This represents the data at the k-th position;

[0074] Calculate the standard deviation of the location data based on the mean:

[0075] Where s represents the standard deviation, x i This represents the data at the i-th position;

[0076] Calculate the standard score Z-score for the location data based on the mean and standard deviation:

[0077] Among them, Z i The Z-score represents the standard score of the data at position i.

[0078] Data points with a Z-score greater than 3 or less than -3 are marked as outliers. In a preferred embodiment, the massage intensity of the second massage device is calculated as follows:

[0079] Where F represents massage intensity, W represents user weight, H represents user height, M represents user skeletal muscle mass, and P represents body pressure distribution index. max This represents the preset maximum pressure distribution index value, and T represents the muscle tension index. max This represents the preset maximum muscle tension value, and α, β, γ, and δ represent preset adjustment parameters.

[0080] Based on the user's height, weight, skeletal muscle mass, body stress distribution index, and muscle tension index, the most suitable massage intensity can be calculated. This customized massage intensity ensures that the massage is both comfortable and effective, meeting the user's individual needs.

[0081] As a preferred embodiment, the method for obtaining the control signal using the shoulder height adjustment algorithm is as follows:

[0082] Where, k p Represents the proportional gain, k i Represents the integral gain, k d Differential gain, u(n) represents the control signal at the nth sampling time, e(n) represents the error at the nth sampling time, e(n-1) represents the error at the (n-1)th sampling time, T represents the sampling time, and e(i) represents the error at the ith sampling time;

[0083] The error e(n) at the nth sampling time is calculated as follows: e(n) = h target (n)-h current (n);

[0084] Among them, h target (n) represents the massage shoulder height collected by the infrared sensor of the second massage device at the nth moment, h current (n) represents the height of the second massage device at the nth moment.

[0085] By utilizing sensors such as infrared sensors to monitor the user's shoulder height data in real time, the massage position can be dynamically adjusted according to changes in the user's body during the massage. This real-time response mechanism ensures the continuity and effectiveness of the massage, preventing displacement of the massage position due to body movement or muscle relaxation.

[0086] As a preferred embodiment, the method for adjusting the position of the second massage device is as follows:

[0087] Calculate the height that needs to be adjusted at time n:

[0088] in, Let h(n) represent the scaling factor, and h(n) represent the height adjusted at the nth time.

[0089] Adjust the height at time n+1 based on the height required at time n: h current (n+1)=h current (n)+h(n);

[0090] Among them, h current (n+1) represents the height of the second massage device at time n+1.

[0091] Based on real-time monitored shoulder height data, a shoulder height adjustment algorithm can be used to calculate and generate control signals for the movement of the massage device, thereby dynamically adjusting the position of the massage device. Compared to the fixed massage mode in existing technologies, this dynamic adjustment method can provide a more flexible massage service that is more adaptable to changes in the user's body.

[0092] This method provides a personalized massage experience and real-time dynamic adjustments, allowing users to feel greater comfort during the massage. This enhanced comfort helps users relax their mind and body, relieving neck and shoulder fatigue.

[0093] Example 2:

[0094] The present invention also provides a shoulder massage system based on a shoulder height adjustment algorithm, comprising a first massage device and a second massage device, including:

[0095] Initial shoulder height acquisition module: Acquires the user's initial shoulder height;

[0096] The method for obtaining shoulder height is as follows:

[0097] D1: Use the first massage device to massage the user's back starting from the first preset position;

[0098] D2: Move the first massage device upwards to the second preset position; and record the position data where the infrared pair signal disappears during the movement of the first massage device;

[0099] D3: Move the first massage device downwards to the first preset position; and record the position data of the infrared phototransistor signal during the movement of the first massage device;

[0100] D4: Move the first massage device upwards to the second preset position; and record the position data where the infrared pair signal disappears during the movement of the first massage device;

[0101] D5: Move the first massage device downwards to the first preset position and end the operation of the first massage device; calculate the standard score Z-score of the position data and remove outliers; use the median of the position data as the user's initial shoulder height;

[0102] Massage intensity calculation module: Calculates the massage intensity of the second massage device based on the user's body parameters; the body parameters include height, weight, skeletal muscle mass, body pressure distribution index, and muscle tension index;

[0103] Shoulder massage module: controls the second massage device to move to the initial shoulder height to start the massage, and collects the user's real-time massage shoulder height in a cyclical manner according to the preset interval time through the infrared phototransistor of the second massage device;

[0104] Massage device adjustment module: Based on the massage shoulder height, a shoulder height adjustment algorithm is used to obtain the control signal for the movement of the second massage device, and the position of the second massage device is dynamically adjusted based on the control signal.

[0105] Example 3:

[0106] This embodiment provides an electronic device that stores a computer program, which, when executed by a processor, implements a shoulder massage method based on a shoulder height adjustment algorithm as described in any embodiment of the present invention.

[0107] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, A and B simultaneously, or B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0108] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of electronic hardware and software. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0109] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0110] In the several embodiments provided in this application, any function, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0111] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A shoulder massage method based on a shoulder height adjustment algorithm, comprising a first massage device and a second massage device, characterized in that, Includes the following steps: S1: Obtain the user's initial shoulder height; The method for obtaining shoulder height is as follows: D1: Use the first massage device to massage the user's back starting from the first preset position; D2: Move the first massage device upwards to the second preset position; and record the position data where the infrared pair signal disappears during the movement of the first massage device; D3: Move the first massage device downwards to the first preset position; and record the position data of the infrared phototransistor signal during the movement of the first massage device; D4: Move the first massage device upwards to the second preset position; and record the position data where the infrared pair signal disappears during the movement of the first massage device; D5: Move the first massage device downwards to the first preset position and end the operation of the first massage device; calculate the standard score Z-score of the position data and remove outliers; use the median of the position data as the user's initial shoulder height; S2: Calculate the massage intensity of the second massage device based on the user's body parameters; the body parameters include height, weight, skeletal muscle mass, body pressure distribution index, and muscle tension index; S3: Control the second massage device to move to the initial shoulder height to start the massage, and collect the user's real-time massage shoulder height in a loop according to the preset interval time through the infrared photocell of the second massage device; S4: Based on the massage shoulder height, use a shoulder height adjustment algorithm to obtain a control signal for the movement of the second massage device, and dynamically adjust the position of the second massage device based on the control signal.

2. The shoulder massage method based on the shoulder height adjustment algorithm according to claim 1, characterized in that, The method for labeling outliers is as follows: Copy the recorded three location data points into six location data points; Calculate the mean of the six position data: wherein represents the mean, x k represents the kth position data; calculating a standard deviation of the position data from the mean: where s represents a standard deviation, x i represents the i-th position data; From the mean and standard deviation, a standard score Z-score of the position data is calculated: wherein Z i represents the Z-score of the i-th position data; Data points with a Z-score greater than 3 or less than -3 are marked as outliers.

3. The shoulder massage method based on the shoulder height adjustment algorithm according to claim 1, characterized in that, The massage intensity calculation method of the second massage device is: wherein F denotes a massage intensity, W denotes a weight of the user, H denotes a height of the user, M denotes a skeletal muscle mass of the user, P denotes a body pressure distribution index, P max denotes a preset maximum pressure distribution index value, T denotes a muscle tension index, T max denotes a preset maximum muscle tension value, and α, β, γ, δ denote preset adjustment parameters.

4. The shoulder height adjustment algorithm based shoulder massage method of claim 1, wherein, The method for obtaining the control signal using the shoulder height adjustment algorithm is: Where, k p Represents the proportional gain, k i Represents the integral gain, k d Differential gain, u(n) represents the control signal at the nth sampling time, e(n) represents the error at the nth sampling time, e(n-1) represents the error at the (n-1)th sampling time, T represents the sampling time, and e(i) represents the error at the ith sampling time; The error e(n) at the nth sampling time is calculated as follows: e(n) = h target (n) - h current (n); wherein h target (n) represents the massage shoulder height collected by the infrared pair tube of the second massage device at the nth moment, h current (n) represents the height of the second massage device at the nth moment.

5. The shoulder height adjustment algorithm based shoulder massage method according to claim 4, wherein, The method for adjusting the position of the second massage device is as follows: Calculate the height to be adjusted at the nth moment: wherein Let h(n) represent the scaling factor, and h(n) represent the height adjusted at the nth time. Adjust the height at time n+1 based on the height required at time n: h current (n+1) = h current (n) + h(n); wherein h current (n+1) represents the height of the second massage device at the n+1 time.

6. A shoulder massage system based on a shoulder height adjustment algorithm, comprising a first massage device and a second massage device, characterized in that, include: Initial shoulder height acquisition module: Acquires the user's initial shoulder height; The method for obtaining shoulder height is as follows: D1: Use the first massage device to massage the user's back starting from the first preset position; D2: Move the first massage device upwards to the second preset position; and record the position data where the infrared pair signal disappears during the movement of the first massage device; D3: Move the first massage device downwards to the first preset position; and record the position data of the infrared phototransistor signal during the movement of the first massage device; D4: Move the first massage device upwards to the second preset position; and record the position data where the infrared pair signal disappears during the movement of the first massage device; D5: Move the first massage device downwards to the first preset position and end the operation of the first massage device; calculate the standard score Z-score of the position data and remove outliers; use the median of the position data as the user's initial shoulder height; Massage intensity calculation module: Calculates the massage intensity of the second massage device based on the user's body parameters; The body parameters include height, weight, skeletal muscle mass, body stress distribution index, and muscle tension index. Shoulder massage module: controls the second massage device to move to the initial shoulder height to start the massage, and collects the user's real-time massage shoulder height in a cyclical manner according to the preset interval time through the infrared phototransistor of the second massage device; Massage device adjustment module: Based on the massage shoulder height, a shoulder height adjustment algorithm is used to obtain the control signal for the movement of the second massage device, and the position of the second massage device is dynamically adjusted based on the control signal.

7. The shoulder height adjustment algorithm based shoulder massaging system as claimed in claim 6, wherein, The massage intensity calculation module, the massage intensity calculation method of the second massage device is: wherein F denotes a massage intensity, W denotes a weight of the user, H denotes a height of the user, M denotes a skeletal muscle mass of the user, P denotes a body pressure distribution index, P max denotes a preset maximum pressure distribution index value, T denotes a muscle tension index, T max denotes a preset maximum muscle tension value, and α, β, γ, δ denote preset adjustment parameters.

8. The shoulder height adjustment algorithm based shoulder massaging system as claimed in claim 6, wherein, The shoulder massage module, the method for obtaining the control signal using the shoulder height adjustment algorithm is: Where, k p Represents the proportional gain, k i Represents the integral gain, k d Differential gain, u(n) represents the control signal at the nth sampling time, e(n) represents the error at the nth sampling time, e(n-1) represents the error at the (n-1)th sampling time, T represents the sampling time, and e(i) represents the error at the ith sampling time; The error e(n) at the nth sampling time is calculated as follows: e(n) = h target (n) - h current (n); wherein h target (n) represents the massage shoulder height collected by the infrared pair tube of the second massage device at the nth moment, h current (n) represents the height of the second massage device at the nth moment.

9. The shoulder height adjustment algorithm based shoulder massaging system as claimed in claim 8, wherein, The method for adjusting the position of the second massage device in the massage device adjustment module is as follows: Calculate the height to be adjusted at the nth moment: wherein Let h(n) represent the scaling factor, and h(n) represent the height adjusted at the nth time. Adjust the height at time n+1 based on the height required at time n: h current (n+1) = h current (n) + h(n); wherein h current (n+1) represents the height of the second massage device at the n+1 time.

10. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the shoulder massage method based on the shoulder height adjustment algorithm as described in any one of claims 1 to 5.

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