CN107773405A - Massager and its control device - Google Patents
Massager and its control device Download PDFInfo
- Publication number
- CN107773405A CN107773405A CN201710372772.1A CN201710372772A CN107773405A CN 107773405 A CN107773405 A CN 107773405A CN 201710372772 A CN201710372772 A CN 201710372772A CN 107773405 A CN107773405 A CN 107773405A
- Authority
- CN
- China
- Prior art keywords
- massage
- massage ball
- state
- information
- control unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0042—Balls or spheres
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Massaging Devices (AREA)
Abstract
The present invention relates to massager and its control device, the control device of massager includes massage control unit, the massage control unit controls the action for the massage ball massaged object position based on Biont information, the Biont information be with by massage and the relevant information of the state of the organism to change.Thus, man-hour is expended without using person, it becomes possible to bring appropriate massage corresponding with the state at object position to object position.
Description
Technical field
The present invention relates to a kind of massager and its control device.
Background technology
A kind of massager of known action that can change massage ball.According to the Japanese Unexamined Patent Publication 2010- as one example
Massager described in 172598, the action of massage ball is changed to the operation of operating portion according to user, controls and gives object portion
The intensity for the massage that bit strip comes.
The content of the invention
Using above-mentioned massager user by itself feel judge object position such as with it is stiff it is relevant
State (following " states at object position "), based on the sensation to operating portion be operable to adjustment massage intensity.Object
The state at position time to time change in massage, therefore brought to object position in order to persistently corresponding to the state at object position
Appropriate massage, it is necessary to coordinate the change of the state at object position to adjust the intensity of massage.It is then desired in each object
Operating portion is operated when the state at position changes, user be present and feel to expend the load in man-hour for operation operating portion
Sorrow.In addition, here, the problem is studied by taking the massager of the intensity of control massage as an example, but it is believed that being pressed that can control to remove
The problem of same can be also produced in the massager of the key element being had an impact to the state at object position beyond the intensity rubbed.
One mode of the control device of massager involved in the present invention includes control unit, and the control unit is based on organism
Information controls the action for the massage ball massaged object position, wherein, the Biont information is with being sent out by massage
The relevant information of the state of the organism for changing.
One mode of massager involved in the present invention possesses the massage ball, can determine the Biont information
Biological information measurement portion and the control device.
According to above-mentioned massager and its control device, without using person expend man-hour can just be brought to object position with it is right
As the corresponding appropriate massage of the state at position.
Brief description of the drawings
Fig. 1 is the stereogram of the massager of embodiment.
Fig. 2 is the block diagram of Fig. 1 massager.
Fig. 3 is the explanation figure relevant with the virtual flexibility of massage ball.
Fig. 4 is the block diagram for the flexibility control for representing massage ball.
Fig. 5 is the block diagram for the power control for representing massage ball.
Fig. 6 is the side view for the finger pressure motion for representing massage ball.
Fig. 7 is to represent the side view that the rubbing of massage ball is made.
Fig. 8 is the side view of one of the track for representing the massage in finger pressure motion.
Fig. 9 is the side view of one of the track for representing the massage in finger pressure motion.
Figure 10 is the rearview of one of the track for representing the massage in rubbing work.
Figure 11 is the chart of the relation for the translational speed for representing Biont information and massage ball.
Figure 12 is to represent Biont information and the chart of the relation of the number of massage.
Figure 13 is the side view for representing the state that multiple massage balls are in contact with body.
Figure 14 is the side view for representing the state that the first massage ball is in contact with body.
Figure 15 is the timing diagram to change with time for representing Biont information.
Figure 16 is the flow chart of one for representing the control performed by Fig. 1 massager.
Figure 17 is the block diagram of the flexibility control for the massage ball for representing variation.
Embodiment
(one of the mode that massager and its control device can be taken)
One mode of the control device of the massager involved by the disclosure includes control unit, and the control unit is based on organism
Information controls the action for the massage ball massaged object position, wherein, the Biont information be with by massage and
The relevant information of the state of the organism to change.According to the structure, the organism based on the state for reflecting object position
Information expends man-hour to control the action of massage ball without using person, it becomes possible to is brought and object position to object position
The corresponding appropriate massage of state.
According to the one of the control device of above-mentioned massager, the control unit is controlled described based on the Biont information
The action of massage ball so that turn into the second state from first state, wherein, in said first condition, the shape of the organism
State is inactive state, and in said second condition, the state of the organism is active state.It is therefore not necessary to use
Person expends man-hour, is easy to bring appropriate massage corresponding with the state at object position to object position.
According to the one of the control device of above-mentioned massager, the control unit is controlled described based on the Biont information
The virtual flexibility of massage ball so that the virtual flexibility of at least described massage ball helps to make the state of the organism from institute
State first state change and turn to second state.Therefore, massage ball is driven with corresponding with the state at object position flexibility,
Appropriate massage corresponding with the state at object position can be brought to object position.
According to the one of the control device of above-mentioned massager, in the situation that the state of the organism is second state
Under, the control unit controls the virtual flexibility of the massage ball based on the Biont information so that at least described massage
The virtual flexibility of ball helps to maintain second state.According to the structure, with corresponding with the state at object position soft
Property come continue drive massage ball, persistently can bring appropriate massage corresponding with the state at object position to object position.
According to the one of the control device of above-mentioned massager, the control unit is controlled described based on the Biont information
The virtual flexibility of massage ball.Therefore, massage ball is driven with flexibility corresponding with the state at object position, can gives object
Bring massage corresponding with the state at object position in position.
According to the one of the control device of above-mentioned massager, the control unit is controlled described based on the Biont information
The power that massage ball applies to the object position.Therefore, massage ball is driven with corresponding with the state at object position power, can
Appropriate massage corresponding with the state at object position is brought to object position.
According to the one of the control device of above-mentioned massager, the control unit is controlled described based on the Biont information
Massage ball starts the position of massage.Therefore, massage, can give massage ball is since position corresponding with the state at object position
Bring appropriate massage corresponding with the state at object position in object position.
According to the one of the control device of above-mentioned massager, the control unit is controlled described based on the Biont information
Translational speed of the massage ball in massage.Therefore, massage ball, energy are driven with corresponding with the state at object position translational speed
It is enough to bring appropriate massage corresponding with the state at object position to object position.
According to the one of the control device of above-mentioned massager, the control unit is passed through based on the Biont information to control
The massage manipulation for the massage that the massage ball is carried out.Therefore, with massage manipulation corresponding with the state at object position come drive by
Rubbed ball, and appropriate massage corresponding with the state at object position can be brought to object position.
According to the one of the control device of above-mentioned massager, the control unit is passed through based on the Biont information to control
The track for the massage that the massage ball is carried out.Therefore, massage ball is driven with corresponding with the state at object position track, can
Appropriate massage corresponding with the state at object position is brought to object position.
According to the one of the control device of above-mentioned massager, the control unit is controlled to institute based on the Biont information
State the quantity for the massage ball that object position is massaged.Therefore, the massage ball of quantity corresponding with the state at object position
With object location contacts, appropriate massage corresponding with the state at object position can be brought to object position.
According to the one of the control device of above-mentioned massager, the control unit is passed through based on the Biont information to control
The number for the massage that the massage ball is carried out.It is corresponding with the state at object position appropriate therefore, it is possible to be brought to object position
The massage of number.
One mode of the massager involved by the disclosure possesses the massage ball, can determine the Biont information
Biological information measurement portion and above-mentioned control device.According to above-mentioned massager, can obtain and the control by above-mentioned massager
Substantially the same effect of effect that device processed obtains.
(embodiment 1)
Fig. 1 is the outward appearance of massager 1.The setting face such as being arranged at ground of massager 1 (omit diagram), using from power supply
The electric power of (omit diagram) supply drives the massager 1.Massager 1 possesses chair 10, treatment device 20, operating portion 70, life
Object information determination part 80 and control device 100.
The function of chair 10 is supporting body.Chair 10 includes seat 11, backrest 12, a pair of armrests 13 and leg placement section
14.Backrest 12 is arranged at the rear of seat 11, will in a manner of the coupling part of backrest 12 and seat 11 can be rotated as axle
Backrest 12 is installed on seat 11.Leg placement section 14 is arranged at the front of seat 11, and the connecting portion of leg placement section 14 and seat 11 is allocated as
The mode that can be rotated for axle, leg placement section 14 is installed on seat 11.
The function for the treatment of device 20 is to form various massaging actions.Treatment device 20 includes treatment block 21, a pair of tracks 26
And treatment unit 30.
The function for the treatment of block 21 is driving treatment unit 30.Treatment block 21 is made up of multiple elements.Treatment block 21 with
The mode that can be moved along track 26 is installed on track 26.Track 26 is arranged in backrest 12, along the short transverse of backrest 12
Extension.That is, treatment block 21 can move relative to backrest 12 in the short transverse of backrest 12.
Treatment unit 30 includes a pair of first massage ball units 40, a pair of second massage ball units 50 and a pair of supporting arms
60.A pair of supporting arms 60 have the symmetrical relation of line relative to the center line on the width of chair 10.Each supporting arm 60 with
Supported relative to the state that treatment block 21 can rotate by treatment block 21.
A pair of first massage ball units 40 have the symmetrical relation of line relative to the center line on the width of chair 10.
First massage ball unit 40 includes the first massage ball 41 and the first arm 42.The function of first massage ball 41 is the object portion to body
Massaged position.Object position includes neck, shoulder, back, waist and buttocks etc..Connect by the first massage ball 41 with object position
Touch, object position is massaged.First massage ball 41 is supported for example in a manner of it can rotate by the top of the first arm 42.First arm
42 are for example supported by arm 60 in a manner of it can rotate supports.
A pair of second massage ball units 50 have the symmetrical relation of line relative to the center line on the width of chair 10.
Second massage ball unit 50 is arranged at the ratio position of the first massage ball unit 40 on the lower in the short transverse of backrest 12.Second
Massage ball unit 50 includes the second massage ball 51 and the second arm 52.The function of second massage ball 51 has and the first massage ball 41
Substantially the same function of function.The object position for the body that second massage ball 51 is contacted is located to be connect than the first massage ball 41
The position of tactile object position on the lower.Second massage ball 51 is for example in a manner of it can rotate by the top branch of the second arm 52
Hold.Second arm 52 is for example supported by arm 60 in a manner of it can rotate and supported.
The function of operating portion 70 is input and exports the information relevant with the action of massager 1.Operating portion 70 for example including
Power knob (omitting diagram) switched on and off of power supply for switching massager 1 etc..Operating portion 70 and control device 100
It is electrically connected with.
The function in biological information measurement portion 80 is measure Biont information.Biont information is included with being sent out by massage
The relevant information of the state of the organism for changing.Biological information measurement portion 80 is, for example, the biology that can be installed on organism
Body information sensor.Biological information measurement portion 80 is electrically connected with control device 100.
Biological information measurement portion 80 determine Biont information, the Biont information be related to massage effect with deadlock
Firmly, the associated index such as blood circulation, fatigue or pain.In one example, biological information measurement portion 80 passes through biology
Body information sensor determines volume of perspiration.It can be perspired to existing when stiff or pain object position is massaged, therefore energy
It is enough that the volume of perspiration is used as Biont information.The Biont information relevant with volume of perspiration includes and electrodermal activity (Electro-
Dermal Activity：) and electrodermal response (Electro-Dermal Response EDA：EDR) relevant information.It is raw
Object information determination part 80 for example calculates EDA variable quantity and EDR amplitude, using as the organism letter of its operation result
Breath is output to control device 100.
The function of control device 100 is surveyed based on the information inputted by operating portion 70 and by biological information measurement portion 80
The Biont information (following " measure Biont informations ") made controls the action of each massage ball 41,51.Control device 100
The inside of seat 11 is such as arranged at, the control device 100 is driven using the electric power supplied from power supply.
Fig. 2 represents the electrical connection of massager 1.Treatment block 21 includes foundation 22, upper and lower drive division 23, width
Drive division 24 and front and rear drive division 25.The function of foundation 22 is each drive division 23~25 of supporting.Foundation 22 is more
The aggregate of individual element, form the basic framework for the treatment of block 21.
Upper and lower drive division 23 includes the first rotary shaft (omitting diagram) and motor 23A.First rotary shaft (is joined along chair 10
According to Fig. 1) width extension, supported in a manner of it can rotate by foundation 22.It is provided with the first rotary shaft multiple
Little gear.The little gear is engaged with being arranged at the rack (omit and illustrate) of track 26.Motor 23A comes and via multiple gears
One rotation axis connection.Motor 23A is rotated by control device 100, thus treatment block 21 moves along track 26, each massage ball
41st, 51 moved in the short transverse of backrest 12.
Width drive division 24 includes the second rotary shaft (omitting diagram) and motor 24A.Second rotary shaft is included by a pair
The ball-screw that leading screw and a pair of lead screw pair are formed.One supporting arm 60 is installed on a lead screw pair, and another supporting arm 60 is pacified
Loaded on another lead screw pair.Motor 24A comes and the second rotation axis connection via multiple gears.By being made by control device 100
Motor 24A rotates, and each lead screw pair moves relative to leading screw, and each massage ball 41,51 is together with each supporting arm 60 in chair 10
Moved on width.The massage ball 41,51 of one side and the massage ball 41,51 of the opposing party direction on the width of chair 10
Opposite directions move.
Front and rear drive division 25 includes the 3rd rotary shaft (omitting diagram), the 4th rotary shaft (omitting diagram) and motor
25A.Width extension of 3rd rotary shaft along chair 10, penetrates each supporting arm 60.Width of 4th rotary shaft along chair 10
Direction extends, and is supported in a manner of it can rotate by foundation 22.4th rotary shaft is come and the 3rd rotation via multiple gears
Axis connection.Motor 25A comes and the 4th rotation axis connection via multiple gears.Motor 25A is rotated by control device 100,
Thus the 3rd rotary shaft rotates via the 4th rotary shaft and multiple gears and around the second rotary shaft, and each supporting arm 60 is around the second rotation
Axle rotates.Therefore, each massage ball 41,51 moves up in the front and back of chair 10, to adjust each 41,51 pairs of object portions of massage ball
The intensity for the power that position applies.Motor 23A~25A of each drive division 23~25 is controlled by control device 100, thus pressed
The ball 41 that rubs forms various massaging actions.
Massager 1 is also equipped with power test section 91 and displacement detecting portion 92.The function of power test section 91 is that detection acts on the
The power of one massage ball 41, will signal output corresponding with the power to control device 100.Power test section 91 is, for example, load sensing
Device.Power test section 91 is for example arranged at the first arm 42.Massager 1 can also replace power test section 91 or except power test section 91
The other power test section for the power for acting on the second massage ball 41 can be detected by possessing in addition.
Displacement detecting portion 92 includes upper and lower displacement sensor 92A, left and right displacement sensor 92B and moves forward and backward sensor
92C.Upper and lower displacement sensor 92A function is the above-below direction Y for the treatment of unit 30 of the detection along the short transverse of backrest 12
Position, by signal output corresponding with above-below direction Y position to control device 100.Upper and lower displacement sensor 92A is for example
It is the rotary encoder for the rotation amount that can detect the first rotary shaft.Left and right displacement sensor 92B function is detected along chair
The left and right directions X of the treatment unit 30 of the width of son 10 position, signal corresponding with left and right directions X position is defeated
Go out to control device 100.Left and right displacement sensor 92B is, for example, the rotary coding for the rotation amount that can detect the second rotary shaft
Device.The function of moving forward and backward sensor 92C is the fore-and-aft direction Z of massage ball 41,51 of the detection along the fore-and-aft direction of chair 10
Position, by signal output corresponding with fore-and-aft direction Z position to control device 100.Move forward and backward sensor 92C for example
It is the rotary encoder for the rotation amount that can detect the 4th rotary shaft.
Control device 100 is based on power (following " the power inspections for acting on massage ball 41 come computing come the signal for test section 91 of relying on oneself
Measured value F ").Control device 100 is based on the signal from upper and lower displacement sensor 92A come the above-below direction Y of computing treatment unit 30
Position (following " upper-lower position PY ").
Control device 100 is based on the signal from left and right displacement sensor 92B come the left and right directions X of computing treatment unit 30
Position (following " right position PX ").Control device 100 based on from the signal for moving forward and backward sensor 92C come computing massage
The fore-and-aft direction Z of ball 41,51 position (following " front and back position PZ ").
Control device 100 includes massage control unit 101, storage part 102 and adjustment portion 110.Massage the work(of control unit 101
Can drive treatment block 21 based on various information, the action to each massage ball 41,51 is controlled.The function of storage part 102
It is the various information of storage, the information is output to massage control unit 101 and adjustment portion 110.
The function of adjustment portion 110 is to adjust the letter relevant with the action of massage ball 41,51 based on measure Biont information
Breath.Adjustment portion 110 include flexibility adjustment portion 111, power adjustment portion 112, starting position adjustment portion 113, speed adjustment portion 114,
Massage manipulation adjustment portion 115, track adjustment portion 116, massage ball number adjustment portion 117 and number adjustment portion 118.
The function of flexibility adjustment portion 111 is virtual soft with massage ball 41,51 to adjust based on measure Biont information
Soft relevant information (following " flexibility information "), the flexibility information after adjustment is output to massage control unit 101.Massage
The virtual flexibility of ball 41,51 is by the virtual inertia of massage ball 41,51, the virtual viscosity of massage ball 41,51 and massage ball
41st, it is at least one defined in 51 virtual elasticity.The function of power adjustment portion 112 is adjusted based on measure Biont information
The information (following " force information ") relevant with the power that 41,51 pairs of object positions of massage ball apply, the force information after adjustment is exported
To massage control unit 101.
The function of starting position adjustment portion 113 be based on measure Biont information come adjust with massage ball 41,51 start by
The relevant information (following " start position informations ") in the position rubbed, massage control unit is output to by the start position information after adjustment
101.The function of speed adjustment portion 114 is adjusted and 41,51 movement in massage of massage ball based on measure Biont information
The relevant information of speed (following " velocity informations "), the velocity information after adjustment is output to massage control unit 101.Massage manipulation
The function of adjustment portion 115 be based on measure Biont information come adjust with by massage ball 41,51 carry out massage massaging hand
The relevant information of method (following " massage manipulation information "), the massage manipulation information after adjustment is output to massage control unit 101.
The function of track adjustment portion 116 be based on measure Biont information come adjust with by massage ball 41,51 carry out
The relevant information (following " trace informations ") in the track of massage, the trace information after adjustment is output to massage control unit 101.Press
The function for ball number adjustment portion 117 of rubbing is the massage ball to adjust Yu be massaged object position based on measure Biont information
41st, the relevant information of 51 quantity (following " massage ball number information "), the massage ball number information after adjustment is output to massage control
Portion 101 processed.The function of number adjustment portion 118 be based on measure Biont information come adjust with by massage ball 41,51 carry out
The relevant information (following " number informations ") of the number of massage, the number information after adjustment is output to massage control unit 101.
The object that control device 100 is for example massaged based on the information inputted by operating portion 70, by massage ball 41,51
It is at least one in position and measure Biont information, to determine at least one information of the adjustment of adjustment portion 110 to be made.Adjustment
Portion 110 is adjusted relevant with the action of massage ball 41,51 by each adjustment portion 111~118 corresponding to the information with being determined
Information, the information after adjustment is output to massage control unit 101.Control unit 101 is massaged based on the letter got from adjustment portion 110
Cease to control the action of massage ball 41,51.
The state of organism is for example classified as multiple states.In one example, the state of organism is classified as
Some in one state and the second state.In the first state, the state of organism is inactive state.First state example
State as included " pain " and " neutral (Neutral) "." pain " represents that user feels the state of severe pain." neutrality "
Represent that user does not feel the state of the effect of massage.In the second condition, the state of organism is the state of activity.Second
State of the state for example including " bitterly but comfortable " and " loosening "." bitterly but comfortable " represents that user feels comfortable state." put
Pine " represents the state that user loosens.Massage control unit 101 controls massage ball 41,51 for example based on measure Biont information
Action so that the state of organism turns into the second state from first state.
Reference picture 3 illustrates the virtual flexibility of the first massage ball 41.In addition, in massager 1, in the first massage ball 41
Virtual flexibility when being changed, the virtual flexibility of the second massage ball 51 can be also changed.
Massage control unit 101 (reference picture 2) can control the virtual flexibility (following " virtual flexibilities ") of massage ball 41.
Virtual flexibility can mainly influence the thoughts and feelings that massage ball 41 is brought to object position.It is right in the case where virtual flexibility is soft
As position is easy to experience the thoughts and feelings of softness from massage ball 41.In virtual flexibility in the case of hard, object position be easy to from
Massage ball 41 experiences hard thoughts and feelings.Virtual flexibility is (following " virtual used by the virtual inertia of massage ball 41
Property "), the virtual viscosity (following " virtual viscosity ") of massage ball 41 and the virtual elasticity of massage ball 41 it is (following " empty
Pseudo-elastic approximation ") it is next defined.By virtual inertia, it is virtual sticky and it is virtual it is elastic it is at least one change, it is virtual soft
Property changes.Massage control unit 101 to upper and lower drive division 23, width drive division 24 and front and rear drive division 25 it is at least one enter
Row control so that virtual inertia, it is virtual sticky and it is virtual it is elastic it is at least one change, thus change virtual soft
Property.
Massage control unit 101 use with the following formula [1] of linear model expression come change virtual inertia, virtual viscosity and
Virtual elasticity, thus controls virtual flexibility.Relevant information is stored in advance in storage part 102 (reference picture 2) with formula [1].
【Number 1】
" f " represents the force vector of massage ball 41." Md " represents inertial properties matrix." Dd " represents viscous characteristics matrix.
" Kd " represents elastic characteristic matrix." x " represents the massage ball 41 based on upper-lower position PY, right position PX and front and back position PZ
Displacement vector." xd " represents to include the above-below direction Y position of target of massage ball 41, left and right directions X position and preceding
Displacement vector of the rear to Z (elastic key element natural long) position.
Feature matrix Md, Dd, Kd are the parameters for determining virtual flexibility, including being set as " 0 ", can arbitrarily be set
It is fixed.As inertial properties matrix Md becomes big, massage ball 41 becomes to be difficult to accelerate.As viscous characteristics matrix D d becomes big, massage ball
41 speed becomes to be difficult to rise.As elastic characteristic matrix K d becomes big, massage ball 41 becomes to be difficult to displacement.That is, in void to be made
In the case that plan flexibility is hardened, at least one component in feature matrix Md, Dd, Kd is become big, to make virtual flexibility
In the case of softening, at least one component in feature matrix Md, Dd, Kd is set to diminish.
Massage control unit 101 controls virtual flexibility based on measure Biont information.Specifically, flexibility adjustment portion
111 (reference pictures 2) are for example at least one in feature matrix Md, Dd, Kd to change based on measure Biont information, thus adjust
Flexibility information.Control unit 101 is massaged based on the flexibility information got from flexibility adjustment portion 111 to perform virtual softness
The control (following " flexibility controls ") of property.
Reference picture 4 come illustrate flexibility control one.
Massage control unit 101 (reference picture 2) using upper-lower position PY, right position PX and front and back position PZ come computing by
Rub ball 41 per stipulated time displacement vector x.Then, the displacement vector x of per stipulated time based on massage ball 41 is come computing
The speed of massage ball 41 and the acceleration of massage ball 41.Then, carry out computing using above-mentioned formula [1] to be used to realize that desired inertia is special
The force vector f of the target of property matrix Md, viscous characteristics matrix D d and elastic characteristic matrix K d massage ball 41.Massage control unit
101 carry out feedback control via force controller 103 to motor 23A~25A (reference picture 2) of each drive division 23~25 so that
Power detected value F realizes the force vector f of target.The function of force controller 103 is to make the force vector f of power detected value F tracking targets, is made
The force vector f of target must be realized.Therefore, with the state (following " states at object position ") with the stiff grade about object position
Corresponding flexibility drives massage ball 41,51, and it is corresponding with the state at object position appropriate to be brought to object position
Massage.
Reference picture 5 illustrates power that the first massage ball 41 applies to object position.In addition, in massager 1, pressed first
When the power that ball 41 applies to object position of rubbing is changed, the second massage ball 51 can be also changed to the power that object position applies.
Massage control unit 101 (reference picture 2) can control the power that massage ball 41 applies to object position.Make massage ball 41
When the power applied to object position is big, user can feel to become big from the power that massage ball 41 is subject to.Make massage ball 41 to object
The power hour that position applies, user can feel to diminish from the power that massage ball 41 is subject to.Massage control unit 101 passes through to each driving
Motor 23A~the 25A (reference picture 2) in portion 23~25 is controlled, to change the power that massage ball 41 applies to object position.
Massage control unit 101 controls the power that massage ball 41 applies to object position using following formula [2].Have with formula [2]
The information of pass is stored in advance in storage part 102 (reference picture 2).
【Number 2】
U=Kfx (fd-f) ... [2]
" u " represents the control input to massager 1." Kf " represents force feedback gain." fd " represents the target of massage ball 41
Force vector." f " represents the force vector of current massage ball 41.
Massage control unit 101 controls the power that massage ball 41 applies to object position based on measure Biont information.Specifically
Say that power adjustment portion 112 (reference picture 2) changes the force vector of the target of massage ball 41 based on Biont information is for example determined in ground
Fd, thus adjust force information.Control unit 101 is massaged based on the force information got from power adjustment portion 112 to perform massage ball 41
The control (following " power controls ") of the power applied to object position.
Then, one of explanation of force control.
Massage control unit 101 carrys out force vector fd of the computing for realizing desired massage ball 41 control using above-mentioned formula [2]
System input u.Massage control unit 101 feeds back via force controller 103 to motor 23A~25A of each drive division 23~25
Control so that power detected value F realizes the force vector fd of target.Therefore, with power corresponding with the state at object position come drive by
Rubbed ball 41,51, and appropriate massage corresponding with the state at object position can be brought to object position.
Reference picture 6 and Fig. 7 illustrate the massage manipulation of massage carried out using the first massage ball 41.In addition, in massager 1
In, when the massage manipulation of the massage carried out using the first massage ball 41 is changed, utilize the massage of the second massage ball 51 progress
Massage manipulation can also be changed.
Massage control unit 101 (reference picture 2) can control the massage manipulation of the massage carried out using massage ball 41.Massage
Massage manipulation such as including kneading, finger pressure (reference picture 6), rub, rub with the hands (reference picture 7) and stretch.Kneading, finger pressure and rub and be
The action (reference picture 6) that substantially normal direction of the massage ball 41 along the face relative to body moves.Rub with the hands and stretching is massage ball
41 actions moved along the face of body (reference picture 7).When the massage manipulation of massage is kneading, finger pressure or rubbed, user
Feel that the power that is subject to from massage ball 41 is big.When the massage manipulation of massage is stranding or stretching, user is felt from massage ball 41
The power being subject to is small.Control unit 101 is massaged by being controlled to motor 23A~25A (reference picture 2) of each drive division 23~25
System, to change the massage manipulation of the massage carried out using massage ball 41.
Massage control unit 101 controls the massaging hand of the massage carried out using massage ball 41 based on measure Biont information
Method.Specifically, massage manipulation adjustment portion 115 (reference picture 2) adjusts massage manipulation information based on measure Biont information.Press
The control unit 101 that rubs is carried out based on the massage manipulation information got from massage manipulation adjustment portion 115 to perform using massage ball 41
Massage massage manipulation control (following " massage manipulation controls ").Therefore, massaged with corresponding with the state at object position
Gimmick drives massage ball 41,51, can bring appropriate massage corresponding with the state at object position to object position.
Reference picture 8, to illustrate that the first massage ball 41 starts the position (following " starting positions ") of massage.In addition, massaging
In machine 1, when being changed in the starting position of the first massage ball 41, the starting position of the second massage ball 51 can be also changed.
Massage control unit 101 (reference picture 2) can control the starting position of massage ball 41.What is carried out using massage ball 41
In the case that the track of massage is fixed, the size for the power that user is subject to from massage ball 41 depends on the starting position of massage ball 41
With the distance at object position.As front is moved on the fore-and-aft direction of chair 10 in the starting position for making massage ball 41
During one position, user feels to become big from the power that massage ball 41 is subject to.It is moved to making the starting position of massage ball 41 in chair
On 10 fore-and-aft direction during the second place as rear, user feels to diminish from the power that massage ball 41 is subject to.Massage control
Portion 101 to motor 23A~25A (reference picture 2) of each drive division 23~25 by being controlled, to change opening for massage ball 41
Beginning position.In one example, control unit 101 is massaged by being controlled to the motor 25A of front and rear drive division 25, to change
The starting position of massage ball 41.In addition, the starting position of Fig. 8 massage ball 41 shown in solid represents first position, two point is drawn
The starting position of massage ball 41 shown in line represents the second place.
Massage control unit 101 controls the starting position of massage ball 41 based on measure Biont information.Specifically, start
Position adjustment portion 113 (reference picture 2) adjusts start position information based on measure Biont information.Massage control unit 101 is based on
The start position information got from starting position adjustment portion 113 is (following " to open to perform the control of the starting position of massage ball 41
Beginning position control ").Therefore, massage ball 41,51 is driven with starting position corresponding with the state at object position, can given pair
As appropriate massage corresponding with the state at object position is brought at position.
8~Figure 10 of reference picture come illustrate using the first massage ball 41 carry out massage track.In addition, in massager 1,
When being changed in the track of the massage carried out using the first massage ball 41, the track of the massage carried out using the second massage ball 51
It can be changed.
Massage control unit 101 (reference picture 2) can control the track of the massage carried out using massage ball 41.Utilize massage ball
Relation between the size for the power that the change of the track of 41 massages carried out and user are subject to from massage ball 41 depends on massage
Massage manipulation etc..
In the case where the massage manipulation of massage forms kneading, finger pressure and some action in rubbing, massage ball 41
If form some track in the first track TR1 (reference picture 8) and the second track TR2 (reference picture 9) etc..First track
TR1 is less than the second track TR2.Become in the track for the massage for making to carry out using massage ball 41 in a manner of close to the first track TR1
Hour, user feels to diminish from the power that massage ball 41 is subject to.In the track for the massage for making to carry out using massage ball 41 with close
When second track TR2 mode becomes big, user feels to become big from the power that massage ball 41 is subject to.
In the case of some action that the massage manipulation of massage is formed in rubbing with the hands and stretching, massage ball 41 for example being capable of shape
Into some track (reference picture 10) in the 3rd track TR3 and the 4th track TR4 etc..3rd track TR3 is less than the 4th track
TR4.Become hour in a manner of close to the 3rd track TR3 in the track for the massage for making to carry out using massage ball 41, user feels
The power being subject to from massage ball 41 becomes big.In the track for the massage for making to carry out using massage ball 41 with close to the 4th track TR4 side
When formula becomes big, user feels to diminish from the power that massage ball 41 is subject to.Massage control unit 101 passes through to each drive division 23~25
Motor 23A~25A (reference picture 2) is controlled to change the track of the massage carried out using massage ball 41.In addition, Figure 10 with
Solid line shows the 3rd track TR3, and the 4th track TR4 is shown with double dot dash line.
Massage control unit 101 controls the track of the massage carried out using massage ball 41 based on measure Biont information.Tool
Say, track adjustment portion 116 (reference picture 2) adjusts trace information based on measure Biont information body.Massage the base of control unit 101
In the trace information got from track adjustment portion 116 come perform using massage ball 41 carry out massage track control (under
State " TRAJECTORY CONTROL ").Therefore, massage ball 41,51 is driven with track corresponding with the state at object position, can gives object portion
Bit strip carrys out appropriate massage corresponding with the state at object position.
Reference picture 11 illustrates translational speed of first massage ball 41 in massage.In addition, in massager 1, first
When translational speed of the massage ball 41 in massage is changed, the translational speed of the second massage ball 51 can be also changed.
Massage control unit 101 (reference picture 2) can control translational speed of the massage ball 41 in massage.Massage ball 41 by
Relation between the change for the translational speed rubbed and the change of Biont information depends on massage manipulation of massage etc..
In the case where the massage manipulation of massage for example forms the action of stranding (reference picture 7), user is felt from massage ball
41 power being subject to as translational speed of the massage ball 41 in massage uprises and becomes big, and feel from the power that massage ball 41 is subject to
Translational speed step-down of the massage ball 41 in massage and diminish.I.e., as shown in figure 11, the shifting with massage ball 41 in massage
Dynamic speed uprises, and the direction of state to the state of the state whereabouts " pain " from " neutrality " of organism changes.In addition, with by
Rub translational speed step-down of the ball 41 in massage, and the state of organism is to the side of the state of the state whereabouts " neutrality " from " pain "
To transformation.
In the case where the massage manipulation of massage for example forms the action of finger pressure (reference picture 6), user is felt from massage
The power that ball 41 is subject to feels the power being subject to from massage ball 41 as translational speed of the massage ball 41 in massage uprises and diminishes
Become big with translational speed step-down of the massage ball 41 in massage.That is, as translational speed of the massage ball 41 in massage becomes
Height, the direction of state to the state of the state whereabouts " neutrality " from " pain " of organism change.In addition, as massage ball 41 exists
Translational speed step-down in massage, the direction of state to the state of the state whereabouts " pain " from " neutrality " of organism change.
Massage control unit 101 changes massage by being controlled to motor 23A~25A (reference picture 2) of each drive division 23~25
Translational speed of the ball 41 in massage.
Massage control unit 101 controls translational speed of the massage ball 41 in massage based on measure Biont information.Specifically
Say that speed adjustment portion 114 (reference picture 2) is based on measure Biont information come information of regulating the speed in ground.Massage control unit 101 is based on
The velocity information got from speed adjustment portion 114 is (following " fast to perform the control of translational speed of the massage ball 41 in massage
Degree control ").Therefore, massage ball 41,51 is driven with translational speed corresponding with the state at object position, can gives object portion
Bit strip carrys out appropriate massage corresponding with the state at object position.
Reference picture 12 come illustrate using the first massage ball 41 carry out massage number.In addition, in massager 1, in profit
When the number of the massage carried out with the first massage ball 41 is changed, the number of the massage carried out using the second massage ball 51 also can be by
Change.
Massage control unit 101 (reference picture 2) can control the number of the massage carried out using massage ball 41.The number of massage
It is massage ball 41 in the reciprocating number of defined opening position.That is, the number of massage represents that massage ball 41 connects with object position
Tactile number.
In the number increase for the massage for making to carry out using massage ball 41, the state of organism is easy to the shape from " neutrality "
The direction transformation of the state of state whereabouts " pain ".When the number for the massage for making to be carried out using massage ball 41 is reduced, organism
State is easy to the direction transformation to the state of the state whereabouts " neutrality " from " pain ".Massage control unit 101 passes through to each driving
Motor 23A~the 25A (reference picture 2) in portion 23~25 is controlled to change the number of the massage carried out using massage ball 41.
In addition, the increase and decrease of the number of the massage carried out using massage ball 41 is unrelated with the size for the power that user is subject to from massage ball 41.
Therefore, in the case of any one state that measure Biont information is classified as in " neutrality " and " pain ", control unit is massaged
Key element beyond the number for the massage that 101 preferred pairs are carried out using massage ball 41 is controlled.
Massage control unit 101 controls the number of the massage carried out using massage ball 41 based on measure Biont information.Tool
Say, number adjustment portion 118 (reference picture 2) adjusts number information based on measure Biont information body.Massage the base of control unit 101
In the number information got from number adjustment portion 118 come perform using massage ball 41 carry out massage number control (under
State " number control ").Therefore, it is possible to bring the massage of appropriate number corresponding with the state at object position to object position.
Reference picture 13 and Figure 14 illustrate the quantity of massage ball 41,51 massaged object position.
Massage control unit 101 (reference picture 2) can control the quantity for the massage ball 41,51 massaged object position.
The quantity for the massage ball 41,51 massaged object position is, for example, any of following：First massage ball 41 two (ginseng
According to Figure 14), the second massage ball 51 two；Massage ball 41,51 each four (reference pictures 13).Make what object position was massaged
During the quantity increase of massage ball 41,51, user feels to diminish from the power that massage ball 41,51 is subject to.Make to enter object position
When the quantity of the massage ball 41,51 of row massage is reduced, user feels to become big from the power that massage ball 41,51 is subject to.Massage control
Portion 101 to motor 23A~25A (reference picture 2) of each drive division 23~25 by being controlled to enter object position to change
The quantity of the massage ball 41,51 of row massage.In one example, electricity of the control unit 101 by drive division before and after control 25 is massaged
Motivation 25A changes the quantity for the massage ball 41,51 massaged object position.
Massage control unit 101 controls the massage ball 41,51 massaged object position based on measure Biont information
Quantity.Specifically, massage ball number adjustment portion 117 (reference picture 2) adjusts massage ball number letter based on measure Biont information
Breath.Massage control unit 101 is entered based on the massage ball number information got from massage ball number adjustment portion 117 to perform to object position
The control (following " massage ball numerical control systems ") of the quantity of the massage ball 41,51 of row massage.Therefore, it is corresponding to the state at object position
Quantity massage ball 41,51 and object location contacts, fit corresponding with the state at object position can be brought to object position
When massage.
Figure 15 represents change over time one of the Biont information in massage.
Massage control unit 101 controls the action of massage ball 41,51 based on measure Biont information.In one example,
Massage the first of the action that control massage ball 41,51 is performed in the case that control unit 101 is first state in the state of organism
Control so that the state change of organism is the second state.First control includes flexibility control, power control, starting position control
It is at least one in system, speed control, massage manipulation control, TRAJECTORY CONTROL, massage ball numerical control system and number control.Massage control
Portion 101 processed is for example controlled to virtual flexibility so that at least virtual flexibility helps to make the state of organism from first
State change is the second state.
Massage action of the control unit 101 to massage ball 41,51 to be controlled so that the state change of organism is target
The state of organism.Storage part 102 is stored with the multiple target organism information relevant with the state of the organism of target.Target
Biont information is the Biont information for bringing the target of appropriate massage to object position.Multiple target organism information
Including first object Biont information LI and the second target organism information (omitting diagram).First object Biont information LI examples
Biont information using the state of " bitterly but comfortable " as target in this way.Second target organism information is, for example, with the shape of " loosening "
State is the Biont information of target.Such as by the operation of operating portion 70 come arbitrarily select first object Biont information LI and
Second target organism information.
In the case where the state of organism is the second state, massage control unit 101 performs the dynamic of control massage ball 41,51
The second control made so that the second state is maintained.Second control includes flexibility control, power controls, starting position controls,
It is at least one in speed control, massage manipulation control, TRAJECTORY CONTROL, massage ball numerical control system and number control.Massage control
Portion 101 is for example controlled in the case where the state of organism is the second state to virtual flexibility so that at least virtual soft
It is soft to help to maintain the second state.
In moment t0, by being operable to select defined massage processes to operating portion 70, start and the massage processes
Corresponding massage.Target organism information is for example associated with massage processes.In one example, in the massage of moment t0 selections
The target organism information of process is first object Biont information LI.
In moment t1, begin through biological information measurement portion 80 and determine Biont information.Adjustment portion 110 is in organism
When state is first state, the adjustment information relevant with the action of massage ball 41,51 so that the state of organism turns into the second shape
State.Specifically, adjustment portion 110 adjusts the information relevant with the action of massage ball 41,51 based on measure Biont information, makes
Biont information must be determined and first object Biont information LI is substantially consistent.Control device 100 is for example based on by massage ball
41st, the object positions of 51 massages determine at least one information to be adjusted of adjustment portion 110.
In the case of being massaged at the object position for being prone to change to Biont information, control device 100 is preferred
Determined at least from flexibility information, force information, velocity information, massage manipulation information, massage ball number information and number information
One information.One of the object position that Biont information is prone to change is neck and shoulder etc..By adjustment portion 110 to softness
It is to be difficult to make that property information, force information, velocity information, massage manipulation information, massage ball number information and number information, which are adjusted,
Significantly change occurs for Biont information.Therefore, massaged at the object position for being prone to change to Biont information
In the case of, it is easy to make measure Biont information close to first object Biont information LI.
In the case of being massaged at the object position for being difficult to change to Biont information, control device 100 is preferred
At least one information is determined from start position information and trace information.Biont information is difficult to the object position to change
One is waist etc..Start position information and trace information, which are adjusted, by adjustment portion 110 can be such that Biont information occurs greatly
Amplitude variation.Therefore, in the case of massaging at the object position for being difficult to change to Biont information, it is easy to give birth to measure
Object information is close to first object Biont information LI.
Adjustment portion 110 adjusts flexibility information for example based on measure Biont information.Control device 100 is sentenced in moment t1
Break and be classified as lean on the state of " neutrality " side than first object Biont information LI for the state of organism, therefore utilize flexibility
Adjustment portion 111 is adjusted to flexibility information so that virtual flexibility is hardened.Control unit 101 is massaged to be based on adjusting from flexibility
Flexibility information that portion 111 is got performs flexibility control.After time tl, biological information measurement portion 80 persistently surveys
Determine Biont information.
Control device 100 is determined as that the state of organism is classified as lean on than first object Biont information LI in moment t2
The state of " pain " side, therefore flexibility information is adjusted using flexibility adjustment portion 111 so that virtual flexibility softens.
Control device 100 is determined as substantially consistent with first object Biont information LI in measure Biont information in moment t3
The state of state, i.e. organism is classified as the state of " bitterly but comfortable ".Control device 100 also utilizes softness after moment t3
Property adjustment portion 111 persistently adjust flexibility information so that maintain moment t3 Biont information.Therefore, it is possible to give object position
Bring appropriate massage corresponding with the state at object position.
Reference picture 16 illustrates the action of massager 1.
By being operable to the power settings of massager 1 to the power knob of operating portion 70 to connect, the base of massager 1
Various actions are performed in information inputted from operating portion 70 etc..
Control device 100 for example selects defined massage processes by the operation of operating portion 70 in step s 11, thus
Start massage corresponding with the massage processes.Therefore, massage ball 41,51 forms massaging action corresponding with massage processes, by this
Massage at 41,51 pairs of object positions of massage ball.
Control device 100 obtains the organism of the user determined by biological information measurement portion 80 in step s 12
Information.Control device 100 for example determines at least one information that adjust adjustment portion 110 in step s 13, is given birth to based on measure
Object information is adjusted to the various information determined.
Control device 100 is in step S14 by the message reflection after being adjusted by adjustment portion 110 into massage.Specifically,
Control device 100 controls the action of massage ball 41,51 based on the information after being adjusted by adjustment portion 110.So, according to massager
1 control device 100, massage ball 41,51 can be automatically controlled based on the Biont information for the state for reflecting object position
Action, therefore without using person expend man-hour can just be brought to object position it is corresponding with the state at object position appropriate
Massage.
Control device 100 judges whether massage has terminated in step S15.It is determined as that massage is not yet tied in step S15
In the case of beam, processing is set to return to step S12.On the other hand, in the case of being determined as that massage has terminated in step S15,
The release of massager 1.
(variation)
The explanation relevant with embodiment is the side that massager involved in the present invention and its control device can be taken
The illustration of formula, is not intended to be limiting which.The present invention is in addition to it can take embodiment, such as can also take down
What the variation of the embodiment shown in face and mutually reconcilable at least two variation obtained after being combined
Mode.
The adjustment portion 110 of variation can be taken the mode of at least one omission in each adjustment portion 111~118.
According to the object omitted from adjustment portion 110, at least one party in power test section 91 and displacement detecting portion 92 can also be omitted.To
In the case of being omitted altogether in each adjustment portion 111~118, adjustment portion 110 is to the information that is adjusted by each adjustment portion 111~118
The information relevant with the action of massage ball 41,51 in addition is adjusted.
It can arbitrarily change and whether be adjusted and massage ball 41,51 based on measure Biont information by adjustment portion 110
Act relevant information and make it that measure Biont information and target organism information are substantially consistent.In one example, adjust
Portion 110 is controlled such that the state of organism becomes to massage ball 41,51 in the case of being first state in the state of organism
Turn to the second state.
The massage control unit 101 of variation performs flexibility control in other manner.In one example, massage control
Portion 101 processed is as shown in figure 17, based on power detected value F, using formula [1] come computing be used to realizing desired inertial properties matrix Md,
Viscous characteristics matrix D d, the elastic characteristic matrix K d displacement vector xd of target of massage ball 41, massage ball 41 target speed
Spend at least one in the acceleration of the target of vector and massage ball 41.In one example, massage control unit 101 is transported
Calculate the displacement vector xd of the target of massage ball 41.Then, control unit 101 is massaged via motion controller 104 to each drive division 23
~25 motor 23A~25A carries out feedback control so that upper-lower position PY, right position PX and front and back position PZ are realized
The displacement vector xd of target.The function of motion controller 104 is, for example, to make upper-lower position PY, right position PX and front and back position
The displacement vector xd of PZ tracking targets is so as to realizing the displacement vector xd of target.Therefore, with corresponding with the state at object position
Flexibility drives massage ball 41,51, can bring appropriate massage corresponding with the state at object position to object position.
The formula [1] that the storage part 102 of variation is stored can be taken inertial properties matrix Md item, viscous characteristics
One or two mode omitted in matrix D d item and elastic characteristic matrix K d item.
The massage control unit 101 of variation is instead of used with other model tables such as nonlinear model without using formula [1]
The formula reached controls virtual flexibility.
According to the massager 1 of variation, by the side in the first massage ball unit 40 and the second massage ball unit 50 from
Treatment unit 30 omits.According to the variation, treatment unit 30 can take the mode for omitting supporting arm 60.
It is each of representative that massager involved in the present invention and its control device, which can be used in and be used with home-use and business,
Kind massager.
Claims (13)
- A kind of 1. control device of massager, it is characterised in thatIncluding control unit, the control unit controls the action for the massage ball massaged object position based on Biont information, Wherein, the Biont information be with by massage and the relevant information of the state of the organism to change.
- 2. the control device of massager according to claim 1, it is characterised in thatThe control unit controls the action of the massage ball based on the Biont information so that turns into second from first state State, wherein, in said first condition, the state of the organism is inactive state, in said second condition, institute The state for stating organism is the state of activity.
- 3. the control device of massager according to claim 2, it is characterised in thatThe control unit controls the virtual flexibility of the massage ball based on the Biont information so that at least described massage The virtual flexibility of ball helps to make the state of the organism to turn to second state from first state change.
- 4. the control device of massager according to claim 2, it is characterised in thatIn the case where the state of the organism is second state, the control unit is controlled based on the Biont information Make the virtual flexibility of the massage ball so that the virtual flexibility of at least described massage ball helps to maintain second shape State.
- 5. the control device of massager according to claim 1, it is characterised in thatThe control unit controls the virtual flexibility of the massage ball based on the Biont information.
- 6. the control device of massager according to claim 1, it is characterised in thatThe control unit controls the power that the massage ball applies to the object position based on the Biont information.
- 7. the control device of massager according to claim 1, it is characterised in thatThe control unit controls the massage ball to start the position massaged based on the Biont information.
- 8. the control device of massager according to claim 1, it is characterised in thatThe control unit controls translational speed of the massage ball in massage based on the Biont information.
- 9. the control device of massager according to claim 1, it is characterised in thatThe control unit controls the massage manipulation of the massage carried out using the massage ball based on the Biont information.
- 10. the control device of massager according to claim 1, it is characterised in thatThe control unit controls the track of the massage carried out using the massage ball based on the Biont information.
- 11. the control device of massager according to claim 1, it is characterised in thatThe control unit controls the number for the massage ball massaged the object position based on the Biont information Amount.
- 12. the control device of massager according to claim 1, it is characterised in thatThe control unit controls the number of the massage carried out using the massage ball based on the Biont information.
- 13. a kind of massager, it is characterised in that possess：Control device according to any one of claim 1~12；The massage ball；AndBiological information measurement portion, it can determine the Biont information.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016167264A JP2018033542A (en) | 2016-08-29 | 2016-08-29 | Massage machine and control device thereof |
| JP2016-167264 | 2016-08-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107773405A true CN107773405A (en) | 2018-03-09 |
Family
ID=61437740
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710372772.1A Pending CN107773405A (en) | 2016-08-29 | 2017-05-24 | Massager and its control device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2018033542A (en) |
| KR (1) | KR20180025161A (en) |
| CN (1) | CN107773405A (en) |
| TW (1) | TW201806572A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109589251A (en) * | 2018-11-08 | 2019-04-09 | 上海荣泰健康科技股份有限公司 | For the massage armchair control method of kidney portion massage |
| CN113133911A (en) * | 2020-12-28 | 2021-07-20 | 未来穿戴技术有限公司 | Control method and device of massage instrument, electronic device and storage medium |
| CN113164318A (en) * | 2018-11-27 | 2021-07-23 | 保迪弗兰德有限公司 | Massage device including replaceable massage balls and method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7203326B2 (en) * | 2019-05-29 | 2023-01-13 | パナソニックＩｐマネジメント株式会社 | Massage device and its control device |
| CN112137829B (en) * | 2020-09-25 | 2022-11-22 | 北京小米移动软件有限公司 | Massage device and method for operating the same |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001149435A (en) * | 1999-11-30 | 2001-06-05 | Omron Corp | Massager |
| US20020123704A1 (en) * | 2001-03-01 | 2002-09-05 | Kunihiko Hori | Massage machine and physiological quantity measuring circuit for use in the machine |
| JP2004242707A (en) * | 2003-02-10 | 2004-09-02 | Sanyo Electric Co Ltd | Massage machine |
| JP2005341989A (en) * | 2004-05-31 | 2005-12-15 | Matsushita Electric Works Ltd | Massage machine |
| JP2007289401A (en) * | 2006-04-25 | 2007-11-08 | Sanyo Electric Co Ltd | Massage chair |
| JP2008148949A (en) * | 2006-12-18 | 2008-07-03 | Terumo Corp | Massage apparatus and its control method |
| JP2011160930A (en) * | 2010-02-08 | 2011-08-25 | Tottori Univ | Massage machine, method of setting massage force, and learning control system |
| CN104116507A (en) * | 2014-07-01 | 2014-10-29 | 厦门蒙发利科技（集团）股份有限公司 | Intelligent household health management device |
| CN104706498A (en) * | 2013-12-11 | 2015-06-17 | 松下知识产权经营株式会社 | Massaging machine |
| CN105287173A (en) * | 2014-06-05 | 2016-02-03 | 松下知识产权经营株式会社 | Massager |
| CN205054765U (en) * | 2015-07-20 | 2016-03-02 | 上海杰诗科技有限公司 | Massage armchair with bio -electrical impedance detects function |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6337370B2 (en) * | 2013-12-11 | 2018-06-06 | パナソニックＩｐマネジメント株式会社 | Massage machine |
-
2016
- 2016-08-29 JP JP2016167264A patent/JP2018033542A/en active Pending
-
2017
- 2017-04-05 TW TW106111332A patent/TW201806572A/en unknown
- 2017-05-24 CN CN201710372772.1A patent/CN107773405A/en active Pending
- 2017-06-27 KR KR1020170081227A patent/KR20180025161A/en unknown
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001149435A (en) * | 1999-11-30 | 2001-06-05 | Omron Corp | Massager |
| US20020123704A1 (en) * | 2001-03-01 | 2002-09-05 | Kunihiko Hori | Massage machine and physiological quantity measuring circuit for use in the machine |
| JP2004242707A (en) * | 2003-02-10 | 2004-09-02 | Sanyo Electric Co Ltd | Massage machine |
| JP2005341989A (en) * | 2004-05-31 | 2005-12-15 | Matsushita Electric Works Ltd | Massage machine |
| JP2007289401A (en) * | 2006-04-25 | 2007-11-08 | Sanyo Electric Co Ltd | Massage chair |
| JP2008148949A (en) * | 2006-12-18 | 2008-07-03 | Terumo Corp | Massage apparatus and its control method |
| JP2011160930A (en) * | 2010-02-08 | 2011-08-25 | Tottori Univ | Massage machine, method of setting massage force, and learning control system |
| CN104706498A (en) * | 2013-12-11 | 2015-06-17 | 松下知识产权经营株式会社 | Massaging machine |
| CN105287173A (en) * | 2014-06-05 | 2016-02-03 | 松下知识产权经营株式会社 | Massager |
| CN104116507A (en) * | 2014-07-01 | 2014-10-29 | 厦门蒙发利科技（集团）股份有限公司 | Intelligent household health management device |
| CN205054765U (en) * | 2015-07-20 | 2016-03-02 | 上海杰诗科技有限公司 | Massage armchair with bio -electrical impedance detects function |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109589251A (en) * | 2018-11-08 | 2019-04-09 | 上海荣泰健康科技股份有限公司 | For the massage armchair control method of kidney portion massage |
| CN113164318A (en) * | 2018-11-27 | 2021-07-23 | 保迪弗兰德有限公司 | Massage device including replaceable massage balls and method |
| CN113164318B (en) * | 2018-11-27 | 2023-09-26 | 保迪弗兰德有限公司 | massage device |
| CN113133911A (en) * | 2020-12-28 | 2021-07-20 | 未来穿戴技术有限公司 | Control method and device of massage instrument, electronic device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2018033542A (en) | 2018-03-08 |
| KR20180025161A (en) | 2018-03-08 |
| TW201806572A (en) | 2018-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107773405A (en) | Massager and its control device | |
| EP2419808B1 (en) | A foldable tactile display | |
| US20040225239A1 (en) | Massage machine and massage method | |
| CN201312879Y (en) | Massaging machine | |
| JP6340691B2 (en) | Massage machine | |
| CN105473117A (en) | Method of driving massage chair | |
| CN105078696A (en) | Massage chair with curved guide rail | |
| CN102164572A (en) | Massage machine, and massage method | |
| JP2002315804A (en) | Palpation massaging machine | |
| CN107174468A (en) | Organism state evaluating apparatus and massager | |
| CN104706498B (en) | Massager | |
| CN111938982A (en) | Massage chair, massage control method thereof and computer readable storage medium | |
| JP2015229038A (en) | Body condition evaluation device | |
| CN104706497B (en) | Massager | |
| JPH114911A (en) | Prophylactic training device for lumbago | |
| CN203885799U (en) | Massage armchair with curved guide rails | |
| KR20220017962A (en) | Managing system of massage apparatus for providing personalised and customised massage according to customer's preferences and method thereof | |
| CN105267004B (en) | Massager | |
| JP2004081522A (en) | Massage machine | |
| JP7313079B2 (en) | Force sense presentation device and force sense presentation method | |
| JP7217602B2 (en) | Massage machine | |
| JP2016221244A (en) | Biological state evaluation device and massage machine | |
| TWI837351B (en) | Control device for massage device and massage device equipped with the same | |
| Hsu et al. | A new mattress development based on pressure sensors for body-contouring uniform support | |
| KR102721906B1 (en) | A massage device to control the massage module |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180309 |