WO2025100892A1 - Massage device for providing combination mode and method for controlling massage device - Google Patents

Abstract

A massage device according to an embodiment of the present invention comprises: a body massage unit; a first leg massage unit and a second leg massage unit which are arranged below the body massage unit and are rotatable in two or more directions; a first arm massage unit disposed at a position corresponding to the first leg massage unit and rotatable in two or more directions; a second arm massage unit disposed at a position corresponding to the second leg massage unit and rotatable in two or more directions; and a control unit for controlling so that at least one of a first relative operation of the first leg massage unit and the second leg massage unit or a second relative operation of the first arm massage unit and the second arm massage unit is performed.

Description

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

The present invention relates to a massage device including a rotatable leg massage unit, and more specifically, to a massage device providing a combination mode including various motions or movements corresponding to walking or running.

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

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

Recently, massage devices have been implemented as electronic devices that provide various additional functions, convenience functions, and medical assistance functions beyond simply providing massage to the user's body.

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

Although some massage devices have functions that operate arm or leg massage parts, these functions are only used for limited purposes, such as to increase convenience or safety when the user is riding (sitting on, etc.) on the massage device, or to adjust the length to fit the user's body size.

The present invention was created against the background described above, and its purpose is to provide a massage device capable of providing a direct effect to a user's body by naturally inducing motions or movements, such as walking or running, to the user by utilizing the organic movement relationship of a plurality of massage parts provided in the massage device.

Other objects and advantages of the present invention can be understood by the following description, and will be more clearly known by the embodiments of the present invention. In addition, the objects and advantages of the present invention can be realized by the configurations and combinations of the configurations indicated in the claims.

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

In order to achieve the above object, according to one embodiment of the present invention, a massage device may include: a body massage unit that massages at least a portion of a user's body; first and second leg massage units that are arranged below the body massage unit and can rotate in two or more directions; a first arm massage unit that is arranged at a position corresponding to the first leg massage unit and can rotate in two or more directions; a second arm massage unit that is arranged at a position corresponding to the second leg massage unit and can rotate in two or more directions; and a control unit that controls at least one of a first relative operation of the first leg massage unit and the second leg massage unit and a second relative operation of the first arm massage unit and the second arm massage unit to be performed.

In addition, the control unit of the present invention can control at least one of the rotation and rotation direction of the first leg massage unit and the second arm massage unit to be linked, and at least one of the rotation and rotation direction of the second leg massage unit and the first arm massage unit to be linked.

According to an embodiment, the control unit of the present invention can control at least one of the rotation and rotation direction of the first leg massage unit and the first arm massage unit to be interlocked, and at least one of the rotation and rotation direction of the second leg massage unit and the second arm massage unit to be interlocked.

Specifically, the control unit of the present invention can control a first operation in which the first leg massage unit rotates in a first direction and the second arm massage unit rotates in a direction corresponding to the first direction, and a second operation in which the second leg massage unit rotates in a second direction different from the first direction and the first arm massage unit rotates in a direction corresponding to the second direction.

In addition, the control unit of the present invention can control a first operation in which the first leg massage unit rotates in a first direction and the first arm massage unit rotates in a direction corresponding to the first direction, and a second operation in which the second leg massage unit rotates in a second direction different from the first direction and the second arm massage unit rotates in a direction corresponding to the second direction.

Preferably, the first and second arm massage units of the present invention may be configured to be rotatable in vertical and horizontal directions, and in this case, the control unit of the present invention may control the first arm massage unit or the second arm massage unit to rotate in a three-dimensional direction corresponding to the first direction or the second direction.

Furthermore, the control unit of the present invention can control the first and second directions to alternate repeatedly.

According to an embodiment, the angular range of rotation of at least one of the first leg massage unit, the second leg massage unit, the first arm massage unit and the second arm massage unit of the present invention may be configured to be variably set by at least one of user information, user body information and the user's selection information.

Preferably, the control unit of the present invention can generate counting information using the number of times the first and second directions are alternated, and control such that guidance information is output when the counting information corresponds to the number of times information input by the user.

A massage device according to one embodiment of the present invention may further include a body driving unit that changes the position or posture of the body massage unit, and in this case, the control unit of the present invention may control the body driving unit so that a reclining motion in which the body massage unit tilts backwards precedes the first or second relative motion.

Furthermore, the control unit of the present invention can control the time at which the first operation is performed and the time at which the second operation is performed to correspond to each other.

In addition, the control unit of the present invention can control the time at which the first leg massage unit rotates in the first direction and the time at which the second arm massage unit rotates in a direction corresponding to the first direction by the first operation to correspond to each other.

According to an embodiment, the control unit of the present invention can control the time at which the first leg massage unit rotates in the first direction by the first operation and the time at which the first arm massage unit rotates in a direction corresponding to the first direction to correspond to each other.

A massage device according to one embodiment of the present invention may further include at least one of a first leg air cell provided in the first leg massage section, a second leg air cell provided in the second leg massage section, a first arm air cell provided in the first arm massage section, and a second arm air cell provided in the second arm massage section.

In this case, the control unit of the present invention can control at least one of the first leg air cell, the second leg air cell, the first arm air cell and the second arm air cell to expand when the first or second relative operation is performed.

In addition, the first and second leg massage parts of the present invention may be configured to be length-extensible. In this case, when the first or second relative operation is performed, the control part of the present invention may control the length of the leg massage part that rotates upward among the first and second leg massage parts to decrease, and control the length of the leg massage part that rotates downward to increase.

A massage device according to one embodiment of the present invention may further include a first leg air cell provided in the first leg massage portion; and a second leg air cell provided in the second leg massage portion. In this case, the control portion of the present invention may control the first or second leg air cell to contract when the first or second leg massage portion rotates upward, and may control the first or second leg air cell to expand when the first or second leg massage portion rotates downward.

According to an embodiment, the first and second arm massage parts of the present invention may be configured to be length-extensible. In this case, when the first or second relative operation is performed, the control part of the present invention may control the length of the arm massage part that rotates in a direction corresponding to the upward direction among the first and second arm massage parts to decrease, and control the length of the arm massage part that rotates in a direction corresponding to the downward direction to increase.

A massage device according to one embodiment of the present invention may further include an additional air cell provided on the shoulder or pelvic region of the user. In this case, the control unit of the present invention may control the additional air cell to contract when the second relative motion is performed.

In addition, the control unit of the present invention can control at least one of the rotation and rotation direction of the first leg massage unit, the second leg massage unit, the first arm massage unit, and the second arm massage unit to be linked.

According to an embodiment, the control unit of the present invention can control the first and second leg massage units to rotate in a first direction, and control the first and second arm massage units to rotate in a second direction that is different from the first direction.

Furthermore, the control unit of the present invention can control the rotation of the first and second leg massage parts in the first direction and the length contraction of the first and second leg massage parts to be linked, and can control the rotation of the first and second arm massage parts in the second direction, which is different from the first direction, and the length extension of the first and second arm massage parts to be linked.

A massage device according to one embodiment of the present invention may further include a first leg driving unit that drives at least one of rotation and longitudinal expansion of the first leg massage unit; and a second leg driving unit that drives at least one of rotation and longitudinal expansion of the second leg massage unit.

A massage device according to one embodiment of the present invention may further include a first arm driving unit that drives at least one of rotation and longitudinal extension of the first arm massage unit; and a second arm driving unit that drives at least one of rotation and longitudinal extension of the second arm massage unit.

A method for controlling a massage device according to another aspect of the present invention is a method for controlling a massage device including a body massage unit for massaging at least a part of a user's body, first and second leg massage units arranged at a lower portion of the body massage unit and rotatable in two or more directions, a first arm massage unit arranged at a position corresponding to the first leg massage unit and rotatable in two or more directions, and a second arm massage unit arranged at a position corresponding to the second leg massage unit and rotatable in two or more directions, the method including a control step of controlling the first leg massage unit and the second leg massage unit to operate relative to each other and controlling the first arm massage unit and the second arm massage unit to operate relative to each other.

According to one embodiment of the present invention, through the combined operation of the leg massage part and/or the arm massage part, motion or movement corresponding to the actual behavioral characteristics of the human body structure due to walking or running, etc. can be more effectively induced.

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

According to one embodiment of the present invention, the arm or the like can be driven in various directions in a three-dimensional space, including horizontal and vertical directions, as well as combinations thereof, thereby further enhancing the effects of rehabilitation, exercise, stretching, etc., and implementing higher user orientation.

According to one embodiment of the present invention, by controlling expansion and contraction of air cells provided in arm massage units or leg massage units in a time-series manner, the user's body can be firmly supported or the support can be released, thereby further concentrating the effects of exercise, etc., and effectively preventing injuries, etc.

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

FIG. 1 is a drawing illustrating a massage device according to embodiments of the present invention;

FIG. 2 is a drawing illustrating a main frame according to embodiments of the present invention;

FIG. 3 is a drawing for explaining components of a massage device according to embodiments of the present invention;

Figure 4 is a drawing for explaining a driving method of a massage device according to one embodiment of the present invention.

FIG. 5a is a drawing showing a state in which the arm massage part of a massage device according to one embodiment of the present invention rotates in an up-and-down direction;

FIG. 5b is a drawing showing a state in which the arm massage part of a massage device according to one embodiment of the present invention is rotated in the left-right direction.

FIG. 6 is a drawing showing a state in which a rotation module is connected to a main frame according to one embodiment of the present invention.

Figure 7 is an enlarged drawing of part A of Figure 6.

FIG. 8a and FIG. 8b are drawings showing a rotation module and an arm massage unit according to one embodiment of the present invention.

Figure 9 is a drawing showing a state before the rotation module part and the arm massage part are combined according to one embodiment of the present invention.

FIG. 10 is a perspective view showing a second rotating part according to one embodiment of the present invention.

Figure 11 is a bottom view showing a second rotation part according to one embodiment of the present invention.

Figures 12 to 14 are block diagrams showing detailed configurations of a massage device according to one embodiment of the present invention.

Figure 15 is a flow chart explaining the overall processing process of the present invention.

Figure 16 is a flow chart explaining a processing process according to one embodiment of the present invention.

Figure 17 is a flow chart explaining the processing of the first mode for cross moving.

Figure 18 is a flow chart explaining the processing of the second mode for sync moving.

Figure 19 is a drawing explaining the reclining motion relationship of the massage device.

Figure 20 is a drawing illustrating the motion relationship in which the massage device is restored to the basic posture.

Figure 21 is a drawing showing an example of a process in which the leg massage unit and the arm massage unit operate by driving in the first mode.

Figure 22 is a drawing showing an example of a process in which the leg massage unit and the arm massage unit operate by driving in the second mode.

Figure 23 is a drawing showing an example of a process in which the leg massage part and the arm massage part operate by driving in the third mode.

Figure 24 is a drawing showing an example of a process in which the leg massage unit and the arm massage unit operate by driving in the fourth mode.

A massage device comprising: a body massage unit that massages at least a portion of a user's body; first and second leg massage units that are arranged at a lower portion of the body massage unit and can rotate in two or more directions; a first arm massage unit that is arranged at a position corresponding to the first leg massage unit and can rotate in two or more directions; a second arm massage unit that is arranged at a position corresponding to the second leg massage unit and can rotate in two or more directions; and a control unit that controls at least one of a first relative motion of the first leg massage unit and the second leg massage unit and a second relative motion of the first arm massage unit and the second arm massage unit to be performed.

Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings. Prior to this, the terms or words used in this specification and claims should not be interpreted as limited to their usual or dictionary meanings, and should be interpreted as meanings and concepts that conform to the technical idea of the present invention based on the principle that the inventor can appropriately define the concept of the term in order to explain his or her own invention in the best way.

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

When it is said that a component is "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but there may also be other components in between.

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

The terminology used herein is only used to describe particular embodiments and is not intended to limit the present invention, and the singular expression includes the plural expression unless the context clearly indicates otherwise.

In this specification, the terms "comprise" or "have" mean the presence of a feature, number, step, operation, component, part, or combination thereof. Therefore, it should be understood that these terms do not exclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

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

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

In this specification, binaural beats may refer to a specific form of audio information capable of controlling brain waves. In this specification, according to one embodiment, the massage device may refer to a massage device including a body massage unit and a leg massage unit. In addition, according to another embodiment, the body massage unit and the leg massage unit may exist as separate devices (for example, a body massage device and a leg massage device), and the massage device may refer to a body massage device or a leg massage device.

Hereinafter, with reference to FIGS. 1 to 11, the basic embodiment of the present invention and the detailed contents of the driving mechanism, etc. of the present invention will first be described, and the detailed contents of the embodiment of the present invention that provides the combination mode, etc. will be described later.

Figure 1 is a drawing showing one embodiment of a massage device according to the present invention. A massage device (100) according to one embodiment of the present invention forms an area for accommodating at least a portion of a user's (10) body, and may include a body massage unit (1000) for massaging the user's body, a leg massage unit (2000) for massaging the user's legs, an arm massage unit (3000), and a driving module unit.

The above driving module part may include at least one of a rotation module part (5000) that rotates the arm massage part (3000) in the up-down direction and/or left-right direction as described below, an extension part that expands or contracts the length of the arm massage part (3000), and a position adjustment part that adjusts the position of the arm massage part (3000) in the up-down direction, etc.

The body massage unit (1000) can provide a massage to at least a part of the user's body. The body massage unit (1000) can include a massage module (1700) that provides a massage function to at least a part of the user's body, an audio output module (1500) for providing an audio output of any form to the user, a main frame (1100) that constitutes the skeleton of the body massage unit (1000), and a user input unit (1400) for receiving an input of any form from the user.

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

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

The body massage unit (1000) can form a space of any shape for accommodating a user. The body massage unit (1000) can have a space of a shape corresponding to the shape of the user's body. For example, as illustrated in FIG. 1, the body massage unit (1000) can be implemented as a seating type that can accommodate the entire body or a part of the body of the user (10).

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

At least a part of the body massage part (1000) can slide. For example, when the body massage part (1000) starts a massage, at least a part of the body massage part (1000) can slide forward. In addition, the body massage part (1000) can tilt backward by driving a tilting actuator or the like. As a result, the body massage part (1000) can provide a massage while tilted backward.

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

The massage device (100) may include an air supply unit (not shown in the drawing), and the air supply unit may inflate the air cell by supplying air to the air cell. The air supply unit may be located inside the body massage unit (1000) and may be located in the leg massage unit (2000). In addition, the air supply unit may be located outside the massage device (100).

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

The leg massage unit (2000) may be adjusted in length according to the user's physical characteristics. For example, if a tall user uses the massage device (100), the length of the calf is long, so the length of the leg massage unit (2000) needs to be long. Also, if a short user uses the massage device (100), the length of the calf is short, so the leg massage unit (2000) needs to be short. Accordingly, the leg massage unit (2000) can provide a leg massage customized to the user's height.

Referring to FIG. 1, a plurality of leg massage units (2000) may be provided, and the right and left feet of the user (10) may enter each of the plurality of leg massage units (2000A, 2000B). The plurality of units, specifically a pair of leg massage units (2000A, 2000B), may be driven independently or relatively. The leg massage unit (2000) will be described in detail later.

The massage module (1700) may be installed inside the body massage unit (1000) to provide a mechanical stimulus of any form to a user accommodated in the body massage unit (1000). The massage module (1700) may move along the main frame (1100) installed inside the body massage unit (1000) as illustrated in FIG. 1.

For example, a main frame (1100) of a body massage unit (1000) may be equipped with a rack gear (1112), and a massage module (1700) may move along the rack gear (1112) to provide mechanical stimulation to various parts of the user's body. The massage module (1700) may include a ball massage unit or a roller massage unit, but is not limited thereto.

The massage module (1700) can be configured so that its protrusion degree can be differentially adjusted in the direction toward the seated user, and can also be configured as a dual module whose spacing can be adjusted. Through this configuration, the intensity of the massage provided to the user can be varied, as well as the area to which the massage is provided.

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

Referring to FIG. 3, according to one embodiment of the present invention, the massage device (100) may include an audio output module (1500).

The audio output module (1500) may be provided in various locations. For example, the audio output module (1500) may include a plurality of output units, such as an upper audio output unit positioned on the upper part of the seat (1000a) that comes into contact with a user sitting on the massage device (100), a front audio output unit attached to the front end of the left and right arm massage units (3000) of the seat (1000a), and/or a rear audio output unit attached to the rear end of the arm massage unit (3000), but is not limited thereto.

The seat part (1000a) provided in the massage device (100) according to one embodiment of the present invention may include an upper body support part that supports the user's upper body and a lower body support part that supports the user's lower body.

The upper body support part comes into contact with the user's upper body, specifically from the head to the back, and supports the user's body, while the lower body support part comes into contact with the area below the upper body support part, such as the buttocks and thighs, and supports the user's body.

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

The massage device control device (CD) may include a remote controller, a cellular phone, a personal digital assistant (PDA), etc., and may include various electronic devices that can be connected to the massage device (100) via wired or wireless communication, but are not limited thereto.

FIG. 2 is a drawing for explaining the main frame (1100) of FIG. 1, and FIG. 3 is a drawing for explaining components of a massage device according to one embodiment of the present invention.

According to one embodiment of the present invention, the massage device (100) may include at least one of a mainframe (1100), a control unit (1200), a storage unit (1300), a user input unit (1400), an audio output module (1500), a network connection unit (1600), and a massage module (1700).

The main frame (1100) may be a configuration that forms the skeleton of the body massage unit (1000).

According to one embodiment of the present invention, the main frame (1100) may include a body frame having a massage module (1700) and a base frame (1130) supporting the body frame.

The body frame may include a back frame (1110) that forms the skeleton of the user's upper body receiving portion and a seat frame (1120) that forms the skeleton of the seat portion.

At least a portion of the body frame may be equipped with a rack gear (1112). The rack gear (1112) is a member for guiding the movement of the body massage module in the up-and-down direction (based on FIG. 2) and may include a plurality of ribs and a plurality of ridges.

According to one embodiment of the present invention, the rack gear (1112) may be provided in a form facing each other on both sides of the body frame, specifically, the back frame (1110) and the seat frame (1120), and the body massage module may move along the rack gear (1112).

For example, the body massage module may include a gear that meshes with the rack gear (1112), and the body massage module may move upward or downward by rotating the gear by an actuator provided in the body massage module.

The rack gear (1112) may be implemented with a metal material or a plastic material. For example, the rack gear (1112) may be implemented with iron, steel, an alloy, reinforced plastic, melamine resin, phenol resin, etc., but is not limited thereto.

The body frame can be implemented in various shapes. For example, the body frame can be classified into S-frame, L-frame, S&L-frame, and double S&L-frame depending on the shape, but is not limited thereto.

An S-frame means a frame in which at least a portion of the body frame includes a curved shape like an "S". An L-frame means a frame in which at least a portion of the body frame includes a curved shape like an "L". An S&L frame means a frame in which both a curved shape like an "S" and a curved shape like an "L" are included. A double S&L frame means a frame in which both a curved shape like an "L" and two portions of the curved shape like an "S" are included.

The base frame (1130) refers to a portion of the main frame (1100) that supports the body frame and is in contact with the ground. The base frame (1130) may include a base upper frame (1131) and a base lower frame (1132).

The base upper frame (1131) can support the body frame, and the base lower frame (1132) can be in contact with the ground. In addition, the base upper frame (1131) can be positioned to be in contact with the base lower frame (1132).

According to one embodiment of the present invention, the base upper frame (1131) can move along the base lower frame (1132). For example, the base upper frame (1131) can slide forward or backward along the base lower frame (1132). In this case, the body frame is connected to the base upper frame (1131) and can move according to the movement of the base upper frame (1131).

For example, when the base upper frame (1131) moves forward, the body frame can also move forward, and when the base upper frame (1131) moves backward, the body frame can also move backward. As a result, sliding movement of the body massage part (1000) can be permitted.

The control unit (1200) can control the operation of the massage device (100). The control unit (1200) can be implemented with one or more processors. If the control unit (1200) is implemented with multiple processors, at least some of the multiple processors can be located at a physically separated distance. The control unit (1200) is not limited thereto and can be implemented in various ways.

For example, the control unit (1200) may correspond to one or more processors. The processor may be implemented as an array of a plurality of logic gates, or may be implemented as a combination of a general-purpose microprocessor and a memory storing a program that can be executed on the microprocessor. It goes without saying that the control unit (1200) may be implemented as hardware of a different type.

According to one embodiment of the present invention, the control unit (1200) can control the operation of the massage device (100).

For example, the massage device (100) may include a plurality of actuators, and the massage device (100) may control the operation of the massage device (100) by controlling the operation of the plurality of actuators.

For example, the massage device (100) may include at least one of a massage module movement actuator, at least one actuator included in the massage module (1700), an isometric actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator, and a sliding actuator, and the control unit (1200) may control the operation of the massage device (100) by controlling these.

In this specification, the 'leg length adjustment actuator' may refer to a connecting driving unit provided in the leg massage unit (2000). The massage module (1700) movement actuator is an actuator that enables the massage module (1700) to move up and down, and the massage module (1700) can move along the rack gear (1112) by the operation of the massage module movement actuator.

The isometric actuator is an actuator that adjusts the angle of the part of the massage device (100) that the user's back touches, and the isometric angle of the massage device (100) can be adjusted by the operation of the isometric actuator.

The leg angle actuator is an actuator that adjusts the angle of the leg massage part (2000) of the massage device (100), and the angle between the leg massage part (2000) and the body massage part (1000) can be adjusted by the operation of the leg angle actuator.

The foot massage actuator refers to an actuator that operates a foot massage module included in a leg massage unit (2000), specifically, a foot massage unit (2200). By utilizing the foot massage actuator, the massage device (100) can provide a foot massage to a user.

The massage module (1700) may include at least one actuator, and the control unit (1200) may provide various massage movements by operating the at least one actuator. For example, the control unit (1200) may provide a tapping massage, a kneading massage, etc. by operating the at least one actuator included in the massage module (1700), but is not limited thereto and may provide various massage movements.

The leg length adjustment actuator, i.e., the connecting driving unit, represents an actuator that adjusts the length of the leg massage unit (2000). For example, the control unit (1200) can adjust the length of the leg massage unit (2000) to suit the user by utilizing the leg length adjustment actuator, and as a result, the user can receive a massage that suits his/her body type.

The sliding actuator enables the sliding motion of the massage device (100). For example, by the motion of the sliding actuator, the horizontal base upper frame (1131) can move forward or backward, and as a result, the body frame connected to the horizontal base upper frame (1131) can also move forward or backward.

The storage unit (1300) can store various information related to the massage device (100). For example, the storage unit (1300) can include massage control information and personal authentication information, but is not limited thereto.

The storage unit (1300) can be implemented through a non-volatile storage medium capable of continuously storing arbitrary data.

The storage unit (1300) may include memory. The memory may refer to a primary storage device directly accessed by the processor, such as a random access memory (RAM) such as DRAM or SRAM, and may refer to a volatile storage device in which stored information is instantly erased when power is turned off, but is not limited thereto. Such memory may be operated by the control unit (1200).

The user input unit (1400) may be configured to receive commands related to the control of the operation of the massage device (100) from the user. The user input unit (1400) may be implemented in various forms depending on the specifications of the product, etc., and the position at which it is provided may also vary.

The massage device (100) can obtain various commands from the user through the user input unit (1400). For example, the massage device (100) can receive arbitrary commands for selection of a massage module, selection of a massage mode, selection of a massage intensity, selection of a massage time, selection of a massage area, selection of a position and operation of a body massage unit (1000), selection of turning the power of the massage device (100) on and off, selection of whether to operate a heating function, selection of a sound source playback, etc., but is not limited thereto.

As an optional embodiment, the user input unit (1400) may be provided with hot key type buttons and/or selection buttons for selecting a direction, canceling, executing an input, etc., according to preset user-defined functions or preset functions of the user.

The user input unit (1400) may be implemented as a key pad, a dome switch, a touch pad (static/capacitive), a jog wheel, a jog switch, etc., but is not limited thereto. In addition, the user input unit (1400) may obtain commands through the user's speech based on voice recognition technology.

According to the embodiment, the user input unit (1400) may include a display means for displaying the operating status of the massage device (100) or the current status of the user.

The audio output module (1500) may be configured to output audio in various ways and forms to the user. For example, the audio output module (1500) may provide brain stimulation to the user by outputting sound sources and/or binaural beats optimized for the massage pattern provided by the massage device (100). The audio output module (1500) may output an audio signal received through a network (not shown) or stored in an internal/external storage medium (not shown).

For example, the audio output module (1500) can output a sound source according to the control of the user terminal through a network connection (e.g., Bluetooth connection, etc.) with the user terminal. In addition, the audio output module (1500) can output an audio signal of any form that occurs in relation to the operation of the massage device (100).

A massage device (100) according to one embodiment of the present invention may include a network connection unit (1600).

The network connection unit (1600) can communicate with a module inside the massage device (100), an external massage device (100), and/or a user terminal through any type of network, and can include a wired/wireless connection module for network connection.

As described above, the massage device (100) according to one embodiment of the present invention may include a massage module (1700). The massage module (1700) is a configuration that provides mechanical stimulation to a user, and the massage module (1700) may move along the main frame (1100).

The control unit (1200) can provide a massage by controlling the operation of the massage module (1700) to apply mechanical stimulation to the user.

The control unit (1200) can move the massage module (1700) in the directions of the X-axis, Y-axis, and Z-axis. The control unit (1200) can advance the massage ball forward or retreat it backward along the X-axis, Y-axis, and Z-axis. Alternatively, the control unit (1200) can rotate the massage ball around the X-axis, Y-axis, and Z-axis.

A massage device (100) according to one embodiment of the present invention may include a sensor unit (4000). At this time, the sensor unit (4000) may include at least one sensor. For example, the sensor unit (4000) may include a touch sensor, a pressure sensor, an infrared sensor, an LED sensor, a photo sensor, a hall sensor, a static sensor, etc., but is not limited thereto.

The sensor unit (4000) can be used to obtain various information. For example, the sensor unit (4000) can be used to recognize a user. That is, information on whether the user is seated, the user's body shape, whether there is an abnormality in the user's body, etc. can be obtained.

As another example, the sensor unit (4000) can be used to obtain biometric information. That is, it can obtain fingerprint information, face information, voice information, weight information, electrocardiogram information, iris information, body composition information, etc., and can include various types of biometric information without being limited thereto.

According to an embodiment, the massage device (100) can detect a contact area and/or a contact location with the user through the sensor unit (4000) and obtain information on the user's shoulder location through the sensor unit (4000).

In addition, the massage device (100) can provide a customized massage based on the acquired information. For example, when the massage device (100) provides a shoulder massage, the massage device (100) can recognize the user's shoulder position based on the information acquired through the sensor unit (4000) and provide the user with a shoulder massage based on the recognition result.

The leg massage unit (2000) may be configured to massage the user's legs. The leg massage unit (2000) may have a leg receiving space formed to receive the user's legs.

Referring to FIG. 1, FIG. 4, FIG. 5A, and FIG. 5B, a plurality of leg massage units (2000) may be provided, and the user's right foot and left foot may be respectively received in the plurality of leg massage units (2000A, 2000B).

Specifically, the multiple leg massage sections (2000A, 2000B) may include a foot massage section and a calf massage section, and the user's right foot and left foot may be inserted, settled, and received, respectively.

FIG. 4 is a drawing for explaining a driving method of a massage device according to one embodiment of the present invention.

Referring to FIG. 4, multiple leg massage units (2000A, 2000B) can be independently driven by receiving an electric signal from the control unit (1200).

The multiple leg massage units (2000A, 2000B) can be hingedly (or rotatably) connected to the body massage unit (1000), specifically, the main frame (1100).

Referring to FIG. 4, due to the power generated from the hinge drive unit (2700) connected to the main frame (1100), the leg massage unit (2000) is hinged (or rotated) clockwise or counterclockwise based on the hinge (or rotation) center axis preset in the main frame (1100), and the leg angle can be adjusted.

Referring to FIG. 4, a hinge drive unit (2700) may be provided in each of multiple leg massage units (2000A, 2000B).

As illustrated in FIG. 4, various implementations are possible, such as one of the multiple leg massage parts (2000A, 2000B) rotating relative to the main frame (1100) and adjusting the leg angle, or the multiple leg massage parts (2000A, 2000B) adjusting the leg angle so that they form the same angle relative to the main frame (1100).

Referring to FIG. 1, an arm massage unit (3000) according to one embodiment of the present invention can be inserted into a user's arm and provide an arm massage function to the user.

The arm massage unit (3000) may be provided in multiple units, and the user's (10) right arm and left arm may be inserted into each of the multiple arm massage units (3000A, 3000B). The multiple arm massage units (3000A, 3000B) may be driven independently or relatively. The arm massage unit (3000) will be described in detail later.

FIG. 5a is a drawing illustrating a state in which an arm massage part of a massage device according to one embodiment of the present invention rotates in an up-and-down direction, and FIG. 5b is a drawing illustrating a state in which an arm massage part of a massage device according to one embodiment of the present invention rotates in a left-right direction.

FIG. 6 is a drawing showing a state in which a rotation module is connected to a main frame according to one embodiment of the present invention, FIG. 7 is an enlarged drawing of part A of FIG. 6, and FIGS. 8a and 8b are drawings showing a rotation module and an arm massage unit according to one embodiment of the present invention.

FIG. 9 is a drawing showing a state before a rotating module part and an arm massage part are combined according to one embodiment of the present invention, FIG. 10 is a perspective view showing a second rotating part according to one embodiment of the present invention, and FIG. 11 is a bottom view showing a second rotating part according to one embodiment of the present invention.

Referring to FIGS. 2, 6, and 7, a body massage unit (1000), specifically a main frame (1100), according to one embodiment of the present invention may further include a module frame (1150).

The module frame (1150) is connected to the back frame (1110) that forms the skeleton of the upper body receiving portion of the user (10), and may include a base frame body (1151) and side frame bodies (1153a, 1153b). A rotation module portion (5000) may be connected to the module frame (1150).

Referring to FIGS. 2, 6 and 7, a module frame (1150) according to one embodiment of the present invention may be provided in multiple units corresponding to a pair of rotation module parts (5000) connected to a pair of arm massage parts (3000A, 3000B).

Specifically, a pair of module frames (1150) can be connected to each side of the main frame (1100), specifically the back frame (1110).

Referring to FIGS. 6 and 7, the base frame body (1151) according to one embodiment of the present invention can contact and support one surface of the rotation module part (5000), specifically, the first rotation part (5100), which will be described later.

Specifically, the base frame body (1151) is connected to the side frame body (1153a, 1153b) to be described later, and can contact and support one side of the first rotating part (5100).

The base frame body (1151) can be formed to extend at a preset angle, specifically perpendicular to the longitudinal central axis of the side frame bodies (1153a, 1153b). As a result, the module frame (1150) can stably contact and support one side (lower side as shown in FIG. 7) of the rotating module part (5000).

Referring to FIGS. 2, 6, and 7, a pair of side frame bodies (1153a, 1153b) according to one embodiment of the present invention are provided as being connectable to a base frame body (1151) and can contact and support both sides of the first rotating part (5100).

Referring to FIG. 2 and FIG. 7, a pair of side frame bodies (1153a, 1153b) can be spaced apart from each other by a preset distance.

A first rotating part (5100) can be inserted through a space formed between a pair of side frame bodies (1153a, 1153b), and a pair of side frame bodies (1153a, 1153b) can contact and support both sides (upper and lower sides as shown in FIG. 7) of the first rotating part (5100).

Among a pair of side frame bodies (1153a, 1153b), the side frame body (1153a) that contacts and supports one side (lower side in FIG. 7) of the first rotating part (5100) is connected to the base frame body (1151) and can contact and support one side (lower side in FIG. 7) of the first rotating part (5100).

Due to this, the first rotation part (5100) can be fixed in position to the main frame (1100), specifically, the module frame (1150), and the rotation center axis (AX1) of the rotation body (5130) provided to the first rotation part (5100), which is the first rotation center axis of the palm massage part (3000), can be stably maintained.

According to one embodiment of the present invention, the side frame bodies (1153a, 1153b) may be connected to the back frame (1110), respectively. As an optional embodiment, the side frame bodies (1153a, 1153b) and the first rotating part (5100) may be connected by a fastening member such as a bolt.

Referring to FIGS. 1, 5a, 5b, 6, 8a, 8b, and 9, a rotation module (5000) according to one embodiment of the present invention rotates an arm massage unit (3000) in an up-down direction and/or a left-right direction relative to a body massage unit (1000). The rotation module (5000) will be described in detail later, and the arm massage unit (3000) will be described first hereinafter.

Referring to FIG. 1, FIG. 5a, FIG. 5b, FIG. 6, FIG. 8, and FIG. 9, an arm massage unit (3000) according to one embodiment of the present invention accommodates a user's arm and can massage the user's arm.

According to one embodiment of the present invention, a pair of arm massage units (3000) may be provided to be placed on both sides of a body massage unit (1000).

A pair of arm massage parts (3000A, 3000B) can accommodate the right and left arms of a user (10), respectively. A pair of arm massage parts (3000A, 3000B) can be driven independently or relatively.

Referring to FIGS. 5a, 5b, 8a, and 8b, the arm massage unit (3000) can receive power from the rotation module unit (5000) and rotate with respect to the body massage unit (1000).

Referring to FIGS. 5a and 5b, the arm massage unit (3000) can be rotated left and right with respect to the body massage unit (1000) about the first rotation center axis (AX1), and can be rotated up and down with respect to the body massage unit (1000) about the second rotation center axis (AX2).

Referring to FIG. 1, FIG. 5a, FIG. 5b, FIG. 6, FIG. 8a, FIG. 8b, and FIG. 9, an arm massage unit (3000) according to one embodiment of the present invention may include an arm housing unit (3100), an arm massage main body unit (3300), an arm movement guide unit (3330), and a shoulder air cell (3500).

Referring to FIG. 1, FIG. 5a, FIG. 5b, FIG. 8a, FIG. 8b, and FIG. 9, an arm housing part (3100) according to one embodiment of the present invention is formed with an arm receiving part (3110) that receives a user's arm and can be connected to a rotation module part (5000).

Referring to FIGS. 8A, 8B, and 9, the arm massage unit (3000B) for receiving the user's left arm is illustrated. Since the configuration, operating principle, and effect are the same as those of the arm massage unit (3000A) for receiving the user's right arm, the following description will be based on the arm massage unit (3000B) for receiving the user's left arm.

Referring to FIG. 9, the arm housing part (3100) forms the exterior of the arm massage part (3000), and an arm receiving part (3110), which is a space in which the user's arm can be received, can be formed on the inside.

Referring to FIG. 9, the arm housing part (3100) can be connected to the rotation module part (5000) to be described later, specifically, the second rotation part (5500), and the arm housing part (3100) can be rotated around a rotation center axis (AX2) that is set in advance by the rotational power generated from the second rotation part (5500).

From another perspective, the arm housing part (3100) can rotate up and down (based on FIG. 5a) with respect to the body massage part (1000) with the second rotation center axis (AX2) as the rotation center axis.

Referring to FIG. 9, a rotation guide part (3105) may be formed in the shape of a groove on one side of the arm housing part (3100) facing the rotation module part (5000), specifically the second rotation part (5500). The rotation guide part (3105) may be formed at a preset distance from the second rotation center axis (AX2) and in a preset section along the circumferential direction.

That is, a stopper (5511) formed in the second rotation part (5500) is inserted into the rotation guide part (3105), and the arm housing part (3100) can rotate only in the section where the rotation guide part (3105) is formed.

For example, when the rotation guide part (3105) is formed in a section corresponding to 180 degrees along the circumferential direction centered on the second rotation center axis (AX2), the arm housing part (3100) can rotate 180 degrees with respect to the body massage part (1000) and the second rotation part (5500).

However, it is not limited to this, and various modifications can be implemented, such as the rotation guide part (3105) being extended to have sections of 90 degrees and 270 degrees centered on the second rotation center axis (AX2).

According to one embodiment of the present invention, a rotation guide part (3105) is formed in the arm housing part (3100), and a stopper (5511) of a second rotation part (5500) can be placed on the rotation guide part (3105).

Accordingly, the arm housing part (3100) can rotate around the second rotation center axis (AX 2) until both ends of the rotation guide part (3105) contact the stopper (5511) provided in the second rotation part (5500), and the section where the rotation guide part (3105) is formed can be set as the rotational angle of the arm massage part (3000) with respect to the second rotation part (5500).

That is, there is an effect of limiting the rotation angle of the arm massage part (3000) due to the rotation guide part (3105) formed in the arm housing part (3100) and the stopper (5511) formed in the second rotation part (5500).

Referring to FIG. 5a, a coupling projection (3101) may be formed to protrude on one side (the lower surface based on FIGS. 8a and 8b) of the arm housing part (3100) according to one embodiment of the present invention. As illustrated in FIG. 1, the arm massage part (3000) may be placed on the body massage part (1000) at the initial position of the massage device (100) on which the user (10) sits.

At this time, a connecting projection (3101) may be formed to extend along the longitudinal direction (e.g., the front-back direction of the massage device (100)) on one side (the lower surface based on FIG. 1) of the arm housing part (3100) that is mounted on the body massage part (1000).

A protrusion groove (1005) may be formed on one side of the body massage part (1000) facing one side of the arm housing part (3100) where the joining protrusion (3101) is formed. The protrusion groove (1005) may be formed in a shape corresponding to the shape of the joining protrusion (3101) formed on the arm housing part (3100).

When the palm massage part (3000) is placed on the body massage part (1000), the joining projection (3101) formed on the palm massage part (3000) is inserted and placed into the projection groove (1005) formed on the body massage part (1000), thereby providing the effect of allowing the palm massage part (3000) to be stably placed on the body massage part (1000) at a preset position.

In the present invention, the joining projection (3101) is formed in an extended bar shape, but is not limited thereto. The joining projection (3101) is secured to the inside of the protrusion groove (1005) formed in the body massage part (1000), and various modifications can be implemented within the technical concept of guiding the securing position of the arm massage part (3000).

Referring to FIGS. 8A, 8B, and 9, the arm receiving portion (3110) is a receiving space into which the user's arm can be inserted, and may be formed in the shape of a groove along a preset depth. An arm massage main body portion (3300), which will be described later, may be placed in the arm receiving portion (3110).

Referring to FIG. 8a and FIG. 8b, a shoulder air cell (3500) can be placed in the arm housing part (3100).

The shoulder air cell (3500) may be configured to fix at least a portion of the user's arm. The shoulder air cell (3500) placed in the arm housing (3100) may be configured to receive air from a separately provided air supply unit and expand to fix at least a portion of the user's arm, for example, the shoulder area.

Referring to FIGS. 8a and 8b, a shoulder air cell (3500) according to one embodiment of the present invention can be placed in an area corresponding to a user's shoulder.

Referring to FIGS. 5b, 6, 8a, 8b, and 9, the arm massage main body (3300) according to one embodiment of the present invention is installed in the arm housing (3100), and can provide a massage function to the user's arm while allowing the user's arm to rest thereon.

The arm massage main body (3300) according to one embodiment of the present invention may include an arm massage main body (3310) and an arm movement guide part (3330). The arm massage main body (3310) is configured to allow the user's arm to rest on it and is capable of making contact with the user's arm.

Although not shown in the drawing, an air cell may be placed in the arm massage body (3310). The air cell may be supplied with air from an air supply unit and may expand and/or contract to apply pressure to the user's arm and provide a massage function.

As an optional embodiment, a massage module (not shown) may be placed in the arm massage body (3310). The massage module may include a roller, and may come into contact with the user's arm and provide a massage function.

The arm massage body (3310) can be positioned movably inside the arm receiving portion (3110). Referring to FIGS. 8A and 8B, the arm massage body (3310) according to one embodiment of the present invention can move along a preset direction on the arm movement guide portion (3330) to be described later and its position can be adjusted.

Referring to FIG. 6, FIG. 8a, and FIG. 8b, an arm movement guide unit (3330) according to one embodiment of the present invention is positioned on an arm receiving unit (3110) and provides a movement path of an arm massage body (3310), and may include a guide plate (3331) and a guide rail (3335).

The guide plate (3331) is coupled with the arm massage body (3310), and as the guide plate (3331) moves on the guide rail (3335), the arm massage body (3310) coupled with the guide plate (3331) can move together.

Referring to FIGS. 8a and 8b, a guide rail (3335) according to one embodiment of the present invention is placed on an arm receiving portion (3110) formed in an arm housing portion (3100), and can provide a movement path of a guide plate (3331) and an arm massage body (3310) coupled with the guide plate (3331).

The guide rail (3335) can be formed to extend along a preset direction (back and forth direction based on FIGS. 8a and 8b), and the guide plate (3331) and the arm massage body (3310) coupled with the guide plate (3331) can move on the guide rail (3335).

In this specification, the 'forward-backward direction' in which the arm massager body (3310) moves refers to the direction when the direction from the user's shoulder to the fingers is considered forward, and the direction from the user's fingers to the shoulder is considered backward.

Although not shown in the drawing, the arm movement guide unit (3330) may include a guide driving unit that is driven by receiving power from the outside, and the guide plate (3331) coupled with the arm massage body (3310) may move linearly forward and/or backward on the guide rail (3335) by the power generated from the guide driving unit.

The guide drive unit can generate power by a motor, or by a pneumatic or hydraulic cylinder.

As an optional embodiment, the guide plate (3331) may include a roller capable of cloud contact with the guide rail (3335).

As an optional embodiment, the guide plate (3331) may include a block that can slide on the guide rail (3335), and the block can move by making surface contact on a groove formed in the guide rail (3335).

The control unit (1200) can be electrically connected to the guide driving unit and the rotation module unit (5000), and when the arm massage unit (3000) rotates relative to the body massage unit (1000) by the rotational power generated from the rotation module unit (5000), it can control the amount of movement of the arm massage body (3310) by transmitting an electrical signal to the guide driving unit.

That is, the control unit (1200) can control the amount of movement of the arm massage body (3310) on the arm movement guide unit (3330) based on the amount of rotation of the arm massage unit (3000), and has the effect of linearly moving the arm massage body (3310) in response to the change in the user's arm position as the arm massage unit (3000) rotates.

Referring to FIGS. 1, 5A, 5B, 6 to 11, a rotation module unit (5000) according to one embodiment of the present invention connects an arm massage unit (3000) and a body massage unit (1000), has a plurality of different rotation center axes (AX1, AX2), and can generate rotational power based on the plurality of rotation center axes (AX1, AX2).

Referring to FIGS. 5A and 5B, a rotation module unit (5000) according to one embodiment of the present invention can rotate an arm massage unit (3000) about a plurality of rotational central axes (AX1, AX2). A pair of rotation module units (5000) are provided to correspond to a pair of arm massage units (3000A, 3000B), and can be arranged on each side of a body massage unit (1000). A pair of rotation module units (5000) can be driven independently of each other.

The rotation module (5000) may include a first rotation unit (5100) and a second rotation unit (5500).

According to one embodiment of the present invention, the first rotation unit (5100) can rotate the arm massage unit (3000) left and right with respect to the body massage unit (1000) around the first rotation center axis (AX1), thereby generating rotational power.

The first rotation part (5100) can rotate the arm massage part (3000) in the left and right directions (based on Fig. 5b) relative to the body massage part (1000).

The second rotation part (5500) according to one embodiment of the present invention can rotate the arm massage part up and down relative to the body massage part (1000) about a second rotation center axis (AX2) that is different from the first rotation center axis (AX1).

That is, the second rotation part (5500) generates rotational power based on the second rotation center axis (AX2) and can rotate the arm massage part (3000) in an up-and-down direction (based on FIG. 5a) relative to the body massage part (1000).

According to one embodiment of the present invention, a rotation module (5000) may have a first rotation unit (5100) generate rotational power based on a first rotational center axis (AX1), and a second rotation unit (5500) generate rotational power based on a second rotational center axis (AX2).

However, it is not limited to this, and various modifications are possible, such as the first rotating part (5100) generating rotational power based on the second rotating center axis (AX2), and the second rotating part (5500) generating rotational power based on the first rotating center axis (AX1).

Hereinafter, the first rotating part (5100) connected to the main frame (1100), specifically the module frame (1150), generates rotational power based on the first rotational center axis (AX1), and the second rotating part (5500) generates rotational power based on the second rotational center axis (AX2) will be described as the basis.

Referring to FIG. 7, the first rotating part (5100) and the second rotating part (5500) according to one embodiment of the present invention can be coupled to enable relative rotation. The first rotating part (5100) and the second rotating part (5500) according to one embodiment of the present invention can be formed identically.

That is, the first rotation part (5100) and the second rotation part (5500) have the same configuration and are coupled to be able to rotate relative to each other, so that the structure of the parts can be simplified and modularized when the arm massage part (3000) is rotated relative to the body massage part (1000).

Referring to FIGS. 6 to 9, a first rotating part (5100) according to one embodiment of the present invention may include a main housing (5110), a rotating body (5130), and a rotating driving part (5150).

Specifically, the first rotation unit (5100) may include a main housing (5110) that can be placed in the body massage unit (1000), a rotation body that is rotatably placed in the main housing (5110), and a rotation driving unit (5150) that is installed in the main housing (5110) and receives power to transmit power to the rotation body (5130).

Referring to FIG. 7, FIG. 8a, and FIG. 8b, the main housing (5110) forms the exterior of the first rotating part (5100) and can be placed in the module frame (1150) provided in the body massage part (1000), specifically the main frame (1100).

Referring to FIG. 7, the main housing (5110) can be inserted between the module frame (1150), specifically, a pair of side frame bodies (1153a, 1153b). That is, both sides (upper and lower surfaces based on FIG. 7) of the main housing (5110) can be contact-supported by a pair of side frame bodies (1153a, 1153b).

Referring to FIG. 7, one side (bottom surface based on FIG. 7) of both sides of the main housing (5110) that is contact-supported by a pair of side frame bodies (1153a, 1153b) can be contact-supported by a module frame (1150), specifically, a base frame body (1151) that is connected to the side frame body (1153a).

The first rotating part (5100), specifically the main housing (5110), is connected to the module frame (1150) and is placed on the main frame (1100), so that the position of the first rotating part (5100) can be stably fixed.

In addition, since a pair of side frame bodies (1153a, 1153b) contact and support both sides of the main housing (5110), there is an effect of preventing the main housing (5110) from rotating or twisting.

Referring to FIGS. 8a, 8b, and 9, a main housing (5110) according to one embodiment of the present invention may include a rotating body (5130) and a rotating driving unit (5150).

Referring to FIG. 11, a stopper (5111) may be formed protruding on one surface (upper surface based on FIG. 9) of the first rotating part (5100) that can come into contact with the second rotating part (5500).

FIG. 11 is a drawing showing one side (bottom surface based on FIG. 10) of a second rotating part (5500) that is connected to the first rotating part (5100) in a relative rotational manner. A stopper (5111) that is formed protruding from the first rotating part (5100), specifically the main housing (5110), can be placed inside a rotation guide part (5513) formed in the shape of a groove.

That is, when the second rotating part (5500) rotates on the first rotating part (5100), it rotates clockwise and/or counterclockwise with respect to the first rotation center axis (AX1), and while the position of the stopper (5111) formed on the first rotating part (5100) is fixed, the rotation guide part (5513) moves as the second rotating part (5500) rotates.

Referring to FIG. 11, when the stopper (5111) formed protruding on the main housing (5110) of the first rotating part (5100) comes into contact with the two ends of the rotation guide part (5513) formed on the second rotating part (5500), the second rotating part (5500) can no longer rotate, so that the rotation amount (or rotation angle) of the second rotating part (5500) rotating on the first rotating part (5100) can be limited.

Referring to FIGS. 8a, 8b, and 9, a rotation coupling groove (5115) may be formed in the shape of a groove on one side (upper side as shown in FIG. 9) of a first rotation part (5100) that can come into contact with a second rotation part (5500) according to one embodiment of the present invention, and on another side (right side as shown in FIG. 9).

Specifically, the first rotational part (5100) may be a surface perpendicular to the first surface. Looking at it from another perspective, the depth-direction central axis of the rotational coupling groove (5115) formed on the surface may be formed parallel to the second rotational central axis (AX2) of the second rotational part (5500).

That is, since the first rotating part (5100) and the second rotating part (5500) have the same configuration so that they can be coupled to each other so as to be able to rotate relative to each other, a rotating coupling groove part (5115) can be formed in the shape of a groove part so that a rotating body provided in one of the rotating parts that generates rotational power based on the second rotational center axis (AX2) can be inserted and coupled in the first rotating part (5100).

Referring to FIGS. 8a, 8b, and 9, on one side of the main housing (5110) where the rotation coupling groove (5115) is formed, a rotation guide portion (5113) can be formed extending in the shape of the groove along the circumferential direction at a preset distance from the center of the rotation coupling groove (5115).

The rotation guide part (5113) formed in the first rotation part (5100) has the same configuration as the rotation guide part (5513) formed in the second rotation part (5500), so it will be described in detail later.

Referring to FIG. 9, a rotating body (5130) according to one embodiment of the present invention is rotatably positioned in a main housing (5110) and can be combined with a second rotating part (5500).

The rotating body (5130) penetrates one side of the main housing (5110) and a preset area can be exposed to the outside. The area can be combined with the main housing (5510) of the second rotating part (5500).

The rotating body (5130) can receive power from the rotating driving unit (5150) described later and transmit the power to the second rotating unit (5500) connected to the first rotating unit (5100).

Referring to Fig. 9, a rotating body (5130) provided in a first rotating part (5100) according to one embodiment of the present invention can rotate around a first rotation center axis (AX1) as a rotation center axis. The rotating body (5130) can be combined with a main housing (5510) provided in a second rotating part (5500).

Accordingly, as the rotating body (5130) rotates, the main housing (5510) provided in the second rotating part (5500) can rotate together, and as the main housing (5510) rotates, the arm massage part (3000) coupled with the second rotating part (5500) can rotate clockwise and/or counterclockwise with respect to the first rotation center axis (AX1) (left-right direction based on FIG. 5b).

Referring to FIG. 5b, a pair of arm massage parts (3000A, 3000B) according to one embodiment of the present invention can each rotate around a first rotation center axis (AX1a, AX1b) by rotational power generated from a first rotation part (5100).

For example, when a pair of arm massage parts (3000A, 3000B) are rotated in opposite directions with respect to each first rotation center axis (AX1a, AX1b), the pair of arm massage parts (3000A, 3000B) can move closer to each other so as to be positioned on a sheet part (1000a) formed in the body massage part (1000), and can move away from each other toward the outside of the body massage part (1000), as illustrated in FIG. 5b.

As an optional embodiment, a pair of arm massage units (3000A, 3000B) can rotate in the same direction relative to the first rotation center axis (AX1a, AX1b).

As an optional embodiment, a pair of arm massage units (3000A, 3000B) can be driven independently.

Although not shown in the drawing, the rotating body (5130) provided in the first rotating part (5100) can be inserted and connected to the rotating coupling groove (5515) formed in the main housing (5510) provided in the second rotating part (5500).

As a result, there is an effect in which the main housing (5510) provided in the second rotating part (5500) can rotate together with the rotating body (5130) provided in the first rotating part (5100).

Referring to FIGS. 8a and 8b, a rotary drive unit (5150) according to one embodiment of the present invention is installed in a main housing (5110) and can receive power from the outside and transmit power to a rotary body (5130).

Referring to FIGS. 8A and 8B, the rotary drive unit (5150) may include a driving body (5151) and a power transmission unit (5153). The driving body (5151) generates power and may be formed as a motor. The driving body (5151) may receive power from the outside to generate rotational power and transmit it to the power transmission unit (5153).

Referring to FIGS. 8a and 8b, a power transmission unit (5153) according to one embodiment of the present invention may include at least one gear. Specifically, the power transmission unit (5153) includes a plurality of gears (5153a, 5153b, 5153c) and may transmit power generated from a driving body (5151) to a rotating body (5130).

The gears (5153a, 5153b, 5153c) provided in the power transmission unit (5153) according to one embodiment of the present invention may be formed as a worm gear, a helical gear, or the like.

Referring to FIGS. 8a and 8b, the first gear (5153a) coupled with the driving body (5151) may be formed as a worm gear, and the second gear (5153b) connected to the first gear (5153a) may be formed as a gear in which a helical gear and a worm gear are integrated.

Additionally, the third gear (5153c) connected to the second gear (5153b) may be formed as a helical gear with the first rotation center axis (AX1), which is the rotation center axis of the rotating body (5130), as its rotation center axis.

However, it is not limited to this, and within the technical concept of being able to transmit power generated from the driving body (5151) to the rotating body (5130), the power transmission unit (5153) can adopt various power transmission methods such as a rack-and-pinion gear, and various modifications can be implemented.

Although not shown in the drawing, the rotating body (5130) may include a shaft that can be connected to a gear (5153c) provided in the power transmission unit (5153). As a result, power generated from the driving body (5151) can be transmitted to the rotating body (5130) through the power transmission unit (5153).

Referring to FIGS. 8A, 8B, and 9, as power generated from a rotary drive unit (5150) is transmitted to a rotary body (5130), the rotary body (5130) can rotate clockwise and/or counterclockwise with respect to the first rotation center axis (AX1), and the main housing (5510) of the second rotary unit (5500) coupled with the rotary body (5130) can rotate together.

As the main housing (5510) of the second rotation part (5500) rotates, the arm massage part (3000), specifically the arm housing part (3100) coupled with the second rotation part (5500), can rotate left and right (based on FIG. 5b) with respect to the body massage part (1000) with respect to the first rotation center axis (AX1), as shown in FIG. 5b.

That is, the arm massage part (3000A) that accommodates the right arm can rotate relative to the body massage part (1000) in the left and right directions based on the 1-1 rotation center axis (AX1a).

Likewise, the arm massage unit (3000B) that accommodates the user's left arm can rotate in the left-right direction relative to the body massage unit (1000) based on the 1-2 rotation center axis (AX1b) that is arranged parallel to the 1-1 rotation center axis (AX1a).

Referring to FIGS. 6 to 11, a second rotating part (5500) according to one embodiment of the present invention may include a main housing (5510), a rotating body (5530), and a rotating driving part (5550).

Referring to FIG. 7, FIG. 8a, and FIG. 8b, the main housing (5510) forms the outer appearance of the second rotating part (5500) and can be placed on the main housing (5110) provided in the first rotating part (5100).

Referring to FIGS. 9 to 11, the main housing (5510) can be placed on the main housing (5110) of the first rotating part (5100).

Referring to FIG. 9 and FIG. 11, a rotation coupling groove (5515) may be formed in the shape of a groove on one surface (bottom surface based on FIG. 9) of the main housing (5510) of the second rotation unit (5500) facing the main housing (5110) of the first rotation unit (5100).

Specifically, the above-mentioned one surface of the main housing (5510) may be a surface that is perpendicular to the other surface on which the rotating body (5530) is placed.

Looking at it from another perspective, the depth direction central axis of the rotational coupling groove (5515) formed on the above surface can be formed identically to the first rotational central axis (AX1), which is the rotational central axis of the rotational body (5130) provided in the first rotational part (5100).

That is, since the second rotating part (5500) has the same configuration as the first rotating part (5100) so that it can be coupled to be relatively rotatable, a rotation coupling groove (5515) can be formed in the shape of a groove so that a rotation body (5130) provided in the first rotating part (5100) that generates rotational power based on the first rotation center axis (AX1) can be inserted and coupled into the second rotating part (5500).

Referring to FIG. 10 and FIG. 11, on one side of the main housing (5510) where the rotation coupling groove (5515) is formed, a rotation guide portion (5513) can be formed in the shape of the groove along the circumferential direction at a preset distance from the center of the rotation coupling groove (5515).

Referring to FIG. 11, the rotation guide part (5513) can be formed to extend along the circumferential central axis (L1).

Referring to FIG. 9, although it is not shown because it is covered by the rotating body (5130) of the first rotating part (5100) inserted into the rotating coupling groove (5515) of the second rotating part (5500), a stopper (5111) may be formed protruding on one surface of the main housing (5110) on which the rotating body (5130) of the first rotating part (5100) is rotatably positioned.

Referring to FIG. 11, when the first rotating part (5100) and the second rotating part (5500) are connected, the stopper (5111) provided in the first rotating part (5100) can be placed inside the rotating guide part (5513) formed in the main housing (5510) of the second rotating part (5500).

Referring to FIG. 11, when the second rotating part (5500) rotates on the first rotating part (5100), it can rotate clockwise and/or counterclockwise with respect to the first rotation center axis (AX1).

At this time, the position of the stopper (5111) formed in the first rotation part (5100) is fixed, and the rotation guide part (5513) moves as the second rotation part (5500) rotates relative to it.

When the stopper (5111) formed protruding on the main housing (5110) of the first rotating part (5100) comes into contact with the two ends of the rotation guide part (5513) formed on the second rotating part (5500), the second rotating part (5500) can no longer rotate, thereby having the effect of limiting the amount of rotation (or rotation angle) of the second rotating part (5500) rotating on the first rotating part (5100).

Referring to FIG. 7 and FIG. 9, a stopper (5511) may be formed to protrude outward on one surface of the main housing (5510) in which the rotating body (5530) of the second rotating part (5500) inserted into the groove formed in the arm massage part (3000), specifically the arm housing part (3100), is placed.

Referring to FIGS. 7 to 9, when the second rotating part (5500) and the arm housing part (3100) are connected, the stopper (5511) provided on the second rotating part (5500) can be placed on the inside of the rotation guide part (3105) formed on the arm housing part (3100).

Referring to FIG. 8a, FIG. 8b, and FIG. 9, when the arm housing part (3100) is rotated on the second rotating part (5500), it rotates clockwise and/or counterclockwise with respect to the second rotation center axis (AX2), and while the position of the stopper (5511) formed on the second rotating part (5500) is fixed, the rotation guide part (3105) moves as the arm housing part (3100) rotates.

When the stopper (5511) formed protruding on the main housing (5510) of the second rotation part (5500) comes into contact with the two ends of the rotation guide part (3105) formed on the arm housing part (3100), the arm housing part (3100) can no longer rotate, so there is an effect that the rotation amount (or rotation angle) of the arm massage part (3000) rotating on the second rotation part (5500) can be limited.

Referring to FIGS. 7 to 10, a main housing (5510) according to one embodiment of the present invention may include a rotating body (5530) and a rotating driving unit (5550).

Referring to FIG. 9, a rotating body (5530) according to one embodiment of the present invention is rotatably placed in a main housing (5510) and can be combined with an arm massage part (3000), specifically, an arm housing part (3100).

The rotating body (5530) penetrates one side of the main housing (5510) and a preset area can be exposed to the outside. The area can be combined with the arm massage part (3000), specifically, the arm housing part (3100).

The rotating body (5530) can receive power from the rotating driving unit (5550) described later and transmit the power to the arm housing unit (3100) connected to the second rotating unit (5500).

Referring to Fig. 9, a rotating body (5530) provided in a second rotating part (5500) according to one embodiment of the present invention can rotate around the second rotating center axis (AX2) as a rotating center axis. The rotating body (5530) can be coupled with an arm housing part (3100).

Accordingly, as the rotating body (5530) rotates, the arm housing part (3100) can rotate together, and the arm massage part (3000) can rotate clockwise and/or counterclockwise with respect to the second rotation center axis (AX2) (up and down direction based on FIG. 5a).

Referring to FIG. 5a, a pair of arm massage parts (3000A, 3000B) according to one embodiment of the present invention can each rotate around a second rotation center axis (AX2a, AX2b) by rotational power generated from a second rotation part (5500).

According to one embodiment of the present invention, a pair of arm massage parts (3000A, 3000B) can rotate in the same direction with respect to the second rotation center axis (AX2a, AX2b).

However, it is not limited thereto, and a pair of arm massage parts (3000A, 3000B) can rotate in opposite directions with respect to each second rotation center axis (AX2a, AX2b), and in this case, a pair of arm massage parts (3000A, 3000B) can rotate in different directions with respect to the body massage part (1000) to provide a stretching function. Referring to FIG. 9, a rotating body (5530) provided in the second rotating part (5500) can be inserted and coupled into a groove formed in the arm housing part (3100).

As a result, there is an effect in which the arm housing part (3100) provided with the groove part can rotate together with the rotation of the rotating body (5530) provided in the second rotating part (5500).

Referring to FIGS. 8a, 8b, and 10, a rotary drive unit (5550) according to one embodiment of the present invention is installed in a main housing (5510) and can receive power from the outside and transmit power to a rotary body (5530).

Referring to FIGS. 8A, 8B, and 10, the rotary drive unit (5550) may include a driving body (5551) and a power transmission unit (5553). The driving body (5551) generates power and may be formed as a motor. The driving body (5551) may receive power from the outside to generate rotational power and transmit it to the power transmission unit (5553).

Referring to FIGS. 8a, 8b, and 10, a power transmission unit (5553) according to one embodiment of the present invention may include at least one gear. Specifically, the power transmission unit (5553) includes a plurality of gears (5553a, 5553b, 5553c) and may transmit power generated from a driving body (5551) to a rotating body (5530).

The gears (5553a, 5553b, 5553c) provided in the power transmission unit (5553) according to one embodiment of the present invention may be formed as a worm gear, a helical gear, or the like.

Referring to FIGS. 8a and 8b, the first gear (5553a) coupled with the driving body (5551) may be formed as a worm gear, and the second gear (5553b) connected to the first gear (5553a) may be formed as a gear in which a helical gear and a worm gear are integrated.

Additionally, the third gear (5553c) connected to the second gear (5553b) may be formed as a helical gear with the second rotation center axis (AX2), which is the rotation center axis of the rotating body (5530), as its rotation center axis.

However, it is not limited to this, and within the technical concept of being able to transmit power generated from the driving body (5551) to the rotating body (5530), the power transmission unit (5553) can adopt various power transmission methods such as a rack-and-pinion gear, and various modifications can be implemented.

Although not shown in the drawing, the rotating body (5530) may include a shaft that can be connected to a gear (5553c) provided in the power transmission unit (5553). As a result, power generated from the driving body (5551) can be transmitted to the rotating body (5530) through the power transmission unit (5553).

Referring to FIGS. 8A, 8B, and 9, as power generated from a rotary drive unit (5550) is transmitted to a rotary body (5530), the rotary body (5530) can rotate clockwise and/or counterclockwise with respect to a second rotation center axis (AX2), and an arm housing unit (3100) coupled with the rotary body (5530) can rotate together.

Specifically, the arm housing part (3100) can be rotated up and down (based on FIG. 5a) with respect to the body massage part (1000) based on the second rotation center axis (AX2), as shown in FIG. 5a.

That is, the arm massage unit (3000A) that accommodates the user's right arm can rotate relative to the body massage unit (1000) in the up-and-down direction based on the 2-1 rotation center axis (AX2a).

Likewise, the arm massage unit (3000B) that accommodates the user's left arm can rotate in the left-right direction relative to the body massage unit (1000) based on the 2-2 rotation center axis (AX2b) that is arranged parallel to the 2-1 rotation center axis (AX2a).

According to one embodiment of the present invention, a massage device has a rotation module (5000) that has a plurality of different rotational axes (AX1, AX2) and generates rotational power, and rotates an arm massage unit (3000) based on each of the plurality of rotational axes (AX1, AX2), thereby enabling the arm massage unit (3000) to rotate in an up-down direction and/or a left-right direction, thereby providing a user with various arm massage functions.

In addition, since the first rotation part (5100) and the second rotation part (5500) have the same configuration and are coupled so as to be able to rotate relative to each other, the component configuration for rotating the arm massage part (3000) relative to the body massage part (1000) can be simplified and there is an effect of modularization.

Hereinafter, with reference to FIGS. 12 to 24, the specific configuration, processing, function, etc. of a massage device (200) according to an embodiment (hereinafter referred to as the “second embodiment”) that provides a combination mode based on relative or combined motion of a leg massage part and an arm massage part will be described in detail.

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

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

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

For example, the first and second arm massage units (250A, 250B) and the first and second leg massage units (203A, 230B) described in the second embodiment below correspond to the configurations corresponding to the arm massage units (3000A, 3000B) and the leg massage units (2000A, 2000B) described in the aforementioned embodiment, and the control unit (270) of the second embodiment corresponds to the configuration corresponding to the control unit (1200) of the aforementioned embodiment.

In addition, the arm drive unit (260A, 260B) that drives the rotation, movement, length expansion, etc. of the arm massage unit (250A, 250B) in the second embodiment may correspond to the rotation module unit (5000), extension unit, or position adjustment unit of the aforementioned embodiment, and the leg drive unit (240A, 240B) of the second embodiment may correspond to the leg angle actuator or/and leg length adjustment actuator of the aforementioned embodiment, and the body drive unit (240) that changes the angle, posture, position, etc. of the body massage unit (210) may correspond to the aforementioned tilting actuator.

As previously discussed, the leg massage part can be composed of a pair of leg massage parts (230A, 230B), so the leg length adjustment part can also be composed of a pair of leg length adjustment parts (240AL, 240BL), and the leg rotation part for adjusting the angle, etc. can also be composed of a pair of leg rotation parts (240AR, 240BR).

The first leg length adjustment unit (240AL) is connected to the first leg massage unit (230A) and can adjust the length of the first leg massage unit (230A). For example, the first leg length adjustment unit (240AL) can be arranged between one end and the other end of the first leg massage unit (230A) and connect the one end and the other end of the first leg massage unit (230A). The first leg length adjustment unit (240AL) provides a length adjustment driving force to the first leg massage unit (230A) to adjust the length between the one end and the other end of the first leg massage unit (230A), thereby adjusting the length of the first leg massage unit (230A).

The second leg length adjustment unit (240BL) is connected to the second leg massage unit (230B) and can adjust the length of the second leg massage unit (230B). For example, the second leg length adjustment unit (240BL) can be arranged between one end and the other end of the second leg massage unit (230B) and connect one end and the other end of the second leg massage unit (230B). The second leg length adjustment unit (240BL) provides a length adjustment driving force to the second leg massage unit (230B) to adjust the length between one end and the other end of the second leg massage unit (230B), thereby adjusting the length of the second leg massage unit (230B).

The first leg rotation part (240AR) is connected to the first leg massage part (230A) and can adjust the angle of the first leg massage part (230A). For example, the first leg rotation part (240AR) can be arranged between the rear of the first leg massage part (230A) and the body massage part (210) to connect the first leg massage part (230A) and the body massage part (210). The first leg rotation part (240AR) can adjust the angle of the first leg massage part (230A) by pushing or pulling the first leg massage part (230A) from the rear to rotate (or tilt) the first leg massage part (230A) clockwise and/or counterclockwise.

As described above, the first leg rotation part (240AR) is positioned between the rear of the first leg massage part (230A) and the body massage part (210) to connect the first leg massage part (230A) and the body massage part (210), but is not limited thereto.

For example, the first leg rotation unit (240AR) may be positioned at various locations (e.g., the side of the first leg massage unit (230A), the rotation hinge axis of the first leg massage unit (230A), between the first leg massage unit (230A) and the main frame (1100), the rear of the first leg massage unit (230A), etc.) that can rotate the first leg massage unit (230A) clockwise and/or counterclockwise.

The second leg rotation part (240BR) is connected to the second leg massage part (230B) and can adjust the angle of the second leg massage part (230B). For example, the second leg rotation part (240BR) can be arranged between the rear of the second leg massage part (230B) and the body massage part (210) to connect the second leg massage part (2300B) and the body massage part (210). The second leg rotation part (240BR) can adjust the angle of the second leg massage part (230B) by pushing or pulling the second leg massage part (230B) from the rear to rotate (or tilt) the second leg massage part (230B) clockwise and/or counterclockwise.

As described above, the second leg rotation part (240BR) is positioned between the rear of the second leg massage part (230B) and the body massage part (210) to connect the second leg massage part (230B) and the body massage part (210), but is not limited thereto.

For example, the second leg rotation unit (240BR) may be positioned at various locations (e.g., the side of the second leg massage unit (230B), the rotation hinge axis of the second leg massage unit (230B), between the second leg massage unit (230B) and the main frame (1100), the rear of the second leg massage unit (230B), etc.) that can rotate the second leg massage unit (230B) clockwise and/or counterclockwise.

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

Hereinafter, embodiments of the present invention will be described with the Z-axis direction (see FIG. 2) as the reference direction of up/down or vertical, and from a corresponding viewpoint, the X-axis direction will be described with the reference direction of the front/back direction, and the Y-axis direction will be described with the reference direction of the left or right. For example, a positive Z-axis direction corresponds to an upward, upward, upward, or corresponding directionality, and a negative Z-axis direction corresponds to a downward, downward, downward, or corresponding directionality.

FIGS. 12 to 14 are block diagrams showing a detailed configuration of a massage device (200) according to one embodiment of the present invention, and FIG. 15 is a flowchart explaining the overall processing process of the present invention.

As illustrated in FIG. 12, the massage device (200) of the present invention may include one or more of a body massage unit (210), a body driving unit (220), a leg massage unit (230A, 230B), a leg driving unit (240A, 240B), an arm massage unit (250A, 250B), an arm driving unit (260A, 260B), and a control unit (270).

Figures 12 to 14 are block diagrams of a massage device (200) for mainly explaining the second embodiment of the present invention. Therefore, it goes without saying that the massage device (200) of the present invention may additionally include other configurations described in the above-described embodiments in addition to the configurations illustrated in Figures 12 to 14, depending on the embodiment.

The components of the massage device (200) illustrated in FIG. 12 may be physically distinct components, but may also be functionally or logically distinct components.

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

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

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

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

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

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

The first leg driving unit (240A) may include a first leg length adjusting unit (240AL) for adjusting the length of the first leg massage unit (230A) as described in the above-described embodiment and as exemplified in FIG. 13, and/or a first leg rotation unit (240AR) for adjusting the angle of the first leg massage unit (230A) by rotating the first leg massage unit (230A).

In other words, the first leg massage unit (230A) can be rotated in two or more directions through the first leg driving unit (240A), and can be moved in two or more directions. For example, the first leg massage unit (230A) can be rotated (or tilted) in an upward direction (or forward direction, clockwise) and/or downward direction (or backward direction, counterclockwise) of the massage device (200) through the first leg rotation unit (240AR), thereby adjusting the angle of the first leg massage unit (240A). The first leg massage part (230A) can be adjusted in the upper direction (or one end direction) and/or lower direction (or the other end direction) of the first leg massage part (230A) by the first leg length adjustment part (240AL) so that the upper and lower lengths of the first leg massage part (230A) are adjusted, thereby adjusting the length of the first leg massage part (230A).

The second leg driving unit (240B) may also include a second leg length adjusting unit (240BL) for adjusting the length of the second leg massage unit (230B), as illustrated in FIG. 13, and/or a second leg rotation unit (240BR) for adjusting the angle of the second leg massage unit (230B) by rotating the second leg massage unit (230B). It goes without saying that the first and second leg driving units (240A, 240B) may be designed to be controlled by the control unit (270) of the present invention.

In other words, the second leg massage unit (230B) can be rotated in two or more directions through the second leg driving unit (240B), and can be moved in two or more directions. For example, the second leg massage unit (230B) can be rotated (or tilted) in an upward direction (or forward direction, clockwise) and/or downward direction (or backward direction, counterclockwise) of the massage device (200) through the second leg rotation unit (240BR), thereby adjusting the angle of the second leg massage unit (230B). The second leg massage part (230B) can be adjusted in the upper direction (or one end direction) and/or lower direction (or the other end direction) of the second leg massage part (230B) by the second leg length adjustment part (240BL) so that the upper and lower lengths of the second leg massage part (230B) are adjusted, thereby adjusting the length of the second leg massage part (230B).

The first arm driving unit (260A) of the present invention may be configured to perform a function of rotating or moving the first arm massage unit (250A) up and down and/or left and right, or expanding and contracting it, according to an internal algorithm that determines whether a user input signal, a preset condition is met, etc., or the specifications, functions, etc. of the first arm massage unit (250A).

The first arm drive unit (260A) may include a first arm length adjustment unit (260AL) for adjusting the length of the first arm massage unit (250A) as described in the above-described embodiment and as exemplified in FIG. 13, and/or a first arm rotation unit (260AR) for adjusting the angle of the first arm massage unit (250A) by rotating the first arm massage unit (250A).

In this case, the first arm length adjustment unit (260AL) is positioned between one end (or front end) and the other end (or rear end) of the first arm massage unit (250A) to adjust the length between the one end and the other end of the first arm massage unit (250A), thereby adjusting the length of the first arm massage unit (250A). For example, similar to the first leg length adjustment unit (240AL; or, leg length adjustment actuator) described above, the first arm length adjustment unit (260AL) can adjust the length between one end and the other end of the first arm length adjustment unit (260AL) to adjust the length between one end and the other end of the first arm massage unit (250A).

In other words, the first arm massage part (250A) can be rotated in two or more directions through the first arm driving part (260A), and can be moved in two or more directions. For example, the first arm massage part (250A) can be rotated (or tilted) in at least one of the upper direction (or rearward direction, clockwise), the lower direction (or forward direction, counterclockwise), the one-sided direction (or leftward direction, inward direction), and the other-sided direction (or rightward direction, outward direction) of the massage device (200) through the first arm rotation part (260AR), thereby adjusting the angle of the first arm massage part (250A). The first arm massage part (250A) can be adjusted in one direction (or forward direction) and/or the other direction (or backward direction) of the first arm massage part (250A) through the first arm length adjustment part (260AL), thereby adjusting the front-back length of the first arm massage part (250A).

The second arm actuator (260B) may also include a second arm length adjusting unit (260BL) for adjusting the length of the second arm massage unit (250B), as illustrated in FIG. 13, and/or a second arm rotation unit (260BR) for adjusting the angle of the second arm massage unit (250B) by rotating the second arm massage unit (250B). It goes without saying that the first and second arm actuators (260A, 260B) may be designed to be controlled by the control unit (270) of the present invention.

In this case, the second arm length adjustment unit (260BL) is positioned between one end (or front end) and the other end (or rear end) of the second arm massage unit (250B) to adjust the length between the one end and the other end of the second arm massage unit (250B), thereby adjusting the length of the second arm massage unit (250B). For example, similar to the second leg length adjustment unit (240BL; or, leg length adjustment actuator) described above, the second arm length adjustment unit (260BL) can adjust the length between one end and the other end of the second arm length adjustment unit (260BL) to adjust the length between one end and the other end of the second arm massage unit (250B).

In other words, the second arm massage part (250B) can be rotated in two or more directions through the second arm driving part (260B), and can be moved in two or more directions. For example, the second arm massage part (250B) can be rotated (or tilted) in at least one of the upper direction (or rearward direction, clockwise), the lower direction (or forward direction, counterclockwise), the one-sided direction (or leftward direction, inward direction), and the other-sided direction (or rightward direction, outward direction) of the massage device (200) through the second arm rotation part (260BR), thereby adjusting the angle of the second arm massage part (250B). The second arm massage part (250B) can be adjusted in one direction (or forward direction) and/or the other direction (or backward direction) of the second arm massage part (250B) through the second arm length adjustment part (260BL), thereby adjusting the front-back length of the second arm massage part (250B).

The first and second leg massage parts (230A, 230B) and the first and second arm massage parts (250A, 250B) of this embodiment can correspond in detailed configuration to the arm massage parts (3000A, 3000B) and the leg massage parts (2000A, 2000B) described in the above-described embodiment, and therefore, detailed contents of the structure, operation, control, etc. thereof are replaced with the description described above. The first and second leg drive parts (240A, 240B) and the first and second arm drive parts (260A, 260B) of this embodiment are also the same.

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

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

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

As previously discussed, the body drive unit (220) of the present invention can slide the body massage unit (210) forward or backward, and can be designed to be controlled by the control unit (270) of the present invention.

The control unit (270) of the present invention controls at least one of the relative motions (hereinafter referred to as the 'first relative motion') between the first leg massage unit (230A) and the second leg massage unit (230B) and the relative motions (hereinafter referred to as the 'second relative motion') between the first arm massage unit (250A) and the second arm massage unit (250B) to be performed.

The relative motion described in the present invention refers to the motion relationship between the first leg massage unit (230A) and the second leg massage unit (230B) or the motion relationship between the first arm massage unit (250A) and the second arm massage unit (250B), and means a motion relationship including various motions such as relative motion, independent motion, linked motion, and/or semi-linked motion between the first and second leg massage units (230A, 230B) or the first and second arm massage units (250A, 250B). At this time, the motion may mean various motions of each component such as the aforementioned length-related moving motion and/or angle-related rotating (or tilting, pivoting) motion.

The present invention includes first and second leg massage parts (230A, 230B) each having at least one of length adjustment and angle (rotation) adjustment, and first and second arm massage parts (250A, 250B) each having at least one of length adjustment and angle (rotation) adjustment, so that various types and methods of exercise or stretching, etc., can be provided to the user through various combinational applications of length adjustment and angle adjustment (hereinafter referred to as 'combination mode').

In particular, the massage device (200) according to the present invention can drive the leg massage unit (230A, 230B) and the arm massage unit (250A, 250B) in a form corresponding to the structural changes of the human body of the limbs due to walking or running, etc., through the combinatorial application of these configurations.

As described above, the user's legs and arms are respectively received in the leg massage units (230A, 230B) and arm massage units (250A, 250B), so the actuation of the leg massage units (230A, 230B) and arm massage units (250A, 250B) can induce physical activities corresponding to actual walking or running.

When the length adjustment and degree and direction of rotation of the leg massage parts (230A, 230B) and the arm massage parts (250A, 250B) are controlled in time series by the control part (270) of the present invention, a moving mode corresponding to walking motion and running motion, as well as a moving mode corresponding to various exercise motions, rowing motion, etc., can be provided to the user.

The control unit (270) of the present invention can control the massage device (200) to perform a preliminary operation mode (pre mode) in which, prior to the initiation of the combination mode, a light intensity massage is performed on the arms, legs, body, neck, spine, etc. through the massage device (200) to relieve tension, relax muscles, expand the range of motion, promote stability, and enhance joint flexibility (S110).

When the standby mode is established or the standby mode is terminated, the massage device (200) can change from the basic posture (standby posture) to a reclining posture tilted backward, as illustrated in FIG. 19.

In the preparatory operation mode, massage or acupressure stimulation massage focusing on the erector spinae muscles from the cervical spine to the sacrum can be performed. In addition, in this mode, sequential or random massage using air cells can be performed on the shoulders, arms, and calves, or roller massage targeting the soles of the feet can also be performed.

When the preliminary operation mode is terminated, the control unit (270) of the present invention can control the massage device (200) to operate at least one of the body massage unit (210), the leg massage unit (230A, 230B), and the arm massage unit (250A, 250B) to achieve a combination mode (S120). The combination mode will be described in detail later.

The control unit (270) of the present invention can control the output of guidance information at the time when the preliminary operation mode ends in order to increase user convenience, predictability, etc.

According to an embodiment, if the number of times the combination mode is performed exceeds the reference number or a stop signal, etc. is input from a user or the like (S130), the control unit (270) of the present invention can control the reverse mode to be performed as illustrated in FIG. 15 (S140).

The reverse mode is a mode in which the overall motion (e.g., rotation direction, etc.) of the leg massage part (230A, 230B) and/or the arm massage part (250A, 250B) performed in the combination mode is applied in reverse, and is an operation mode that can correspond to walking backwards, running backwards, etc.

When this reverse mode is applied after the combination mode has been established, it is possible to induce activity in muscle areas that were not stimulated in the combination mode, thereby providing three-dimensional effects such as exercise and stretching, and can also provide the benefit of relaxing muscles stimulated by the combination mode.

As illustrated in Fig. 15, when the number of times the reverse mode is performed exceeds the reference number or a stop signal, etc. is input from a user (S150), the control unit (270) of the present invention can control the reverse mode to be terminated.

According to an embodiment, the control unit (270) of the present invention can control the massage device (200) to perform a finishing operation mode (post mode), such as providing a light massage through the massage device (200) after the reverse mode is completed, or performing a finishing operation mode (post mode) in which the arm massage unit (250A, 250B) and the leg massage unit (230A, 230B) lightly move up and down (within a small angle range, etc.) or rotate (S160).

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

In addition, in the finishing operation mode, the control unit (270) of the present invention can control the posture of the massage device (200) to return or change from the recline posture to a standby posture or a default posture, as illustrated in FIG. 20.

As illustrated in FIG. 14, the massage device (200) of the present invention may include one or more air cells among a first leg air cell (231A) provided in a first leg massage unit (230A), a second leg air cell (231B) provided in a second leg massage unit (230B), a first arm air cell (251A) provided in a first arm massage unit (250A), a second arm air cell (251B) provided in a second arm massage unit (250B), and an additional air cell (211) provided in a shoulder or pelvic area of the massage device (200).

The control unit (270) may operate one or more of the air cells described above while performing at least one of the preparatory operation mode, the combination mode, the reverse mode, and the finishing operation mode to further enhance or concentrate the effects of rehabilitation, exercise, stretching, etc., or to prevent safety accidents or injuries. For example, the control unit (270) may control one or more of the air cells to expand or contract selectively or in time series based on the rotational operation of the arm massage unit (250A, 250B) and/or the leg massage unit (230A, 230B). Specific embodiments thereof will be described later.

FIG. 16 is a flowchart explaining a processing process according to one embodiment of the present invention, FIG. 17 is a flowchart explaining processing in which a first mode for cross moving is performed, and FIG. 18 is a flowchart explaining processing in which a second mode for synch moving (synchronization moving) is performed.

The control unit (270) of the present invention controls at least one of the rotation status and rotation direction of the first leg massage unit (230A) and the second arm massage unit (250B) (e.g., the left leg and the right arm or the right leg and the left arm) arranged at a position crossing the first leg massage unit (230A) to be linked, and can control at least one of the rotation status and rotation direction of the second leg massage unit (230B) and the first arm massage unit (250A) (e.g., the right leg and the left arm or the left leg and the right arm) arranged at a position crossing the second leg massage unit (230B) to be linked (S220A, S230A).

Although the drawings depict steps S220A and S230A as sequential steps, this is only to efficiently explain the operation of each leg (arm) positioned at different locations, and in light of the technical concept of the present invention, these steps do not necessarily need to proceed in a sequential manner, so it goes without saying that these steps may be configured to be performed together.

For the sake of efficiency in explanation and understanding, the driving (S220A, S230A) by the above-described control method is referred to as 'mode 1' in the following description.

The above first mode is a mode in which the leg massage part and the arm massage part, which are positioned at symmetrical positions (or crossed positions, intersecting positions), are operated as a pair and have corresponding directions, etc., and corresponds to a mode in which, for example, the linked movement of the user's left leg and right arm and the linked movement of the right leg and left arm are controlled to occur together.

In the first mode, the movement of the arm massage part and the leg massage part, which are arranged in crossing positions, is performed in conjunction. In order to reflect this behavioral characteristic, the movement in the first mode is referred to as cross moving.

Specifically, the control unit (270) of the present invention can control, in relation to the first mode, the first leg massage unit (230A) to rotate in a first direction (for example, upward (or clockwise) or downward (or counterclockwise), etc.) and the second arm massage unit (250B) to rotate in a direction corresponding to the first direction, and the second operation in which the second leg massage unit (230B) rotates in a second direction (for example, downward (or counterclockwise) or upward (or clockwise), etc.) different from the first direction and the first arm massage unit (250A) to rotate in a direction corresponding to the second direction, to be performed (S310, see FIG. 17).

Therefore, in the case of this first mode, the rotation directions of the symmetrical legs and arms are linked, but since the rotation directions of each pair are opposite to each other, the leg massage unit (230A, 230B) and the arm massage unit (250A, 250B) can be driven to respond to the time-series changes in the human body structure due to walking or running, as exemplified in Fig. 21.

The control unit (270) of the present invention controls the rotation direction of the first leg massage unit (230A) and the second arm massage unit (250B) forming a pair and the rotation direction of the second leg massage unit (230B) and the first arm massage unit (250A) forming a pair to be changed when one cycle of the first mode is completed (S240A).

For example, the control unit (270) can rotate the first leg massage unit (230A) and the second arm massage unit (250B) in the first direction and rotate the second leg massage unit (230B) and the first arm massage unit (250A) in the second direction based on a reference position or reference angle based on physical specifications or user settings.

The control unit (270) can determine that one cycle of the operations of the first and second leg massage units (230A, 230B) and the first and second arm massage units (250A, 250B) is completed when the first and second leg massage units (230A, 230B) and the first and second arm massage units (250A, 250B) reach a reference position or reference angle.

At this time, the reference position or reference angle may be individually set for each leg massage part and each arm massage part, or may be set identically or similarly. The control part (270) may control the rotation direction of the first and second leg massage parts (230A, 230B) and the first and second arm massage parts (250A, 250B) to be changed when one cycle of the operations of the first and second leg massage parts (230A, 230B) and the first and second arm massage parts (250A, 250B) is completed.

Specifically, when the first leg massage unit (230A) and the second arm massage unit (250B) that rotate in the first direction (e.g., upward) rotate to a reference position or reference angle based on physical specifications or user settings, the control unit (270) of the present invention can control the first leg massage unit (230A) and the second arm massage unit (250B) to rotate in the second direction (e.g., downward).

From a corresponding viewpoint, when the second leg massage part (230B) and the first arm massage part (250A) that rotate in the second direction rotate to the reference position or reference angle, the control part (270) of the present invention controls the second leg massage part (230B) and the first arm massage part (250A) to rotate in the first direction.

The control unit (270) of the present invention controls the above-described processing process to be applied cyclically so that the rotational motion of the leg accommodated in the leg massage unit (230A, 230B) and the arm accommodated in the arm massage unit (250A, 250B) can be more in line with the actual walking or running motion, and can control the first direction and the second direction to be repeatedly alternated (S250A).

According to an embodiment, the control unit (270) of the present invention controls at least one of the rotation status and the rotation direction of the first leg massage unit (230A) and the first arm massage unit (250A) (e.g., the left leg and the left arm or the right leg and the right arm) arranged at a position corresponding to the first leg massage unit (230A) to be linked, and can control at least one of the rotation status and the rotation direction of the second leg massage unit (230B) and the second arm massage unit (250B) (e.g., the right leg and the right arm or the left leg and the left arm) arranged at a position corresponding to the second leg massage unit (230B) to be linked (S220B, S230B).

As discussed above, these steps (S220B, S230B) do not necessarily need to be performed in time series.

For the sake of efficiency in explanation and understanding, the driving (S220B, S230B) by the above-described control method is referred to as the 'second mode' in the following description in order to relatively distinguish it from the first mode described above.

The above second mode is a mode in which the leg massage part and the arm massage part, which are arranged in corresponding positions (or in parallel positions, in parallel positions), are operated as a pair and have corresponding directions, etc., and corresponds to a mode in which, for example, the user's left leg and left arm are controlled to move together and the right leg and right arm are controlled to move together. In order to reflect such behavioral characteristics, the moving by the second mode is referred to as synch moving.

Specifically, the control unit (270) of the present invention can control, in relation to the second mode, the third operation in which the first leg massage unit (230A) rotates in a first direction (for example, upward or downward, etc.) and the first arm massage unit (250A) rotates in a direction corresponding to the first direction, and the fourth operation in which the second leg massage unit (230B) rotates in a second direction (for example, downward or upward, etc.) different from the first direction and the second arm massage unit (250B) rotates in a direction corresponding to the second direction, to be performed (S410, see FIG. 18).

In the case of the second mode, as illustrated in Fig. 22, the rotation directions of the legs and arms arranged in corresponding positions are linked, but since the rotation directions of each pair are opposite to each other, the leg massage unit (230A, 230B) and the arm massage unit (250A, 250B) can be driven to correspond to the time-series change of the human body structure in which the legs and arms (left leg and left arm vs. right leg and right arm) move together for corresponding positions or directions.

When one cycle of the second mode is completed (S240B), the control unit (270) of the present invention controls the rotation direction of the first leg massage unit (230A) and the first arm massage unit (250A) that form a pair and the rotation direction of the second leg massage unit (230B) and the second arm massage unit (250B) that form a pair to be changed (S250B).

For example, the control unit (270) can rotate the first leg massage unit (230A) and the first arm massage unit (250B) in the first direction and rotate the second leg massage unit (230B) and the second arm massage unit (250B) in the second direction based on a reference position or reference angle based on physical specifications or user settings.

The control unit (270) can determine that one cycle of the operations of the first and second leg massage units (230A, 230B) and the first and second arm massage units (250A, 250B) is completed when the first and second leg massage units (230A, 230B) and the first and second arm massage units (250A, 250B) reach a reference position or reference angle. At this time, the reference position or reference angle can be individually set for each leg massage unit and each arm massage unit or can be set identically or similarly. The control unit (270) can control the rotation direction of the first and second leg massage units (230A, 230B) and the first and second arm massage units (250A, 250B) to be changed when one cycle of the operations of the first and second leg massage units (230A, 230B) and the first and second arm massage units (250A, 250B) is completed.

Specifically, when the first leg massage unit (230A) and the first arm massage unit (250A) that rotate in the first direction (e.g., upward) rotate to a reference position or reference angle based on physical specifications or user settings, the control unit (270) of the present invention can control the first leg massage unit (230A) and the first arm massage unit (250A) to rotate in the second direction (e.g., downward).

From a corresponding viewpoint, when the second leg massage part (230B) and the second arm massage part (250B) that rotate in the second direction rotate to the reference position or reference angle, the control part (270) of the present invention can control the second leg massage part (230B) and the second arm massage part (250B) to rotate in the first direction.

The control unit (270) of the present invention controls the rotational motion of the legs accommodated in the leg massage units (230A, 230B) and the arms accommodated in the arm massage units (250A, 250B) to be applied cyclically (S260B), and can control the first direction and the second direction to be repeatedly alternated (S250B).

The massage device (200) according to the present invention can stimulate shortened whole body muscles through stimulation of whole body joints through the first mode and/or second mode described above, and can provide various types of upper and lower body stretching and/or exercise through upper and lower body (arms/legs) separation or/and joint driving.

Furthermore, the massage device (200) according to the present invention can expand the range of motion of muscles that can be stimulated during walking or running (e.g., erector spinae, subscapularis, latissimus dorsi, serratus anterior, psoas major, rectus femoris, etc.), thereby also improving joint flexibility.

The control unit (270) of the present invention can control the times at which the first operation and the second operation of the first mode are performed to correspond to each other. From a corresponding viewpoint, the control unit (270) of the present invention can control the times at which the third operation and the fourth operation of the second mode are performed to correspond to each other.

As described above, the first movement means a movement in which the first leg massage part (230A) rotates in a first direction and the second arm massage part (250B) rotates in a direction corresponding to the first direction, and the second movement means a movement in which the second leg massage part (230B) rotates in a second direction different from the first direction and the first arm massage part (250A) rotates in a direction corresponding to the second direction.

In addition, the third movement means a movement in which the first leg massage part (230A) rotates in the first direction and the first arm massage part (250A) rotates in the direction corresponding to the first direction, and the fourth movement means a movement in which the second leg massage part (230B) rotates in the second direction, which is a direction different from the first direction, and the second arm massage part (250B) rotates in the direction corresponding to the second direction.

In this way, when the times at which the first and second movements occur are controlled to correspond to each other, the similarity to the symmetrical movement of both legs/arms during actual walking or running can be implemented more precisely.

The fact that the time at which the first action is performed corresponds to the time at which the second action is performed means that the times at which each action is performed are substantially the same, but also means that the first (2) action may be performed an appropriate amount of time earlier or later than the second (1) action.

In cases where the length of the first leg massage part (230A) is set shorter than the length of the second leg massage part (230B) or vice versa depending on the user's body characteristics or injured area, it may be desirable to differentiate the time at which the first and second movements are performed within an appropriate range.

The control unit (270) of the present invention can control the time at which the first leg massage unit (230A) rotates in the first direction and the time at which the second arm massage unit (250B) rotates in the direction corresponding to the first direction by the first operation of the first mode to correspond to each other.

From a corresponding viewpoint, the control unit (270) of the present invention can control the time at which the second leg massage unit (230B) rotates in the second direction and the time at which the first arm massage unit (250A) rotates in the direction corresponding to the second direction by the second operation of the first mode to correspond to each other.

In the case of this embodiment of the present invention, the rotation times of each leg and arm can be induced to correspond to each other, so that a higher degree of similarity with respect to the behavioral characteristics between the legs and arms during actual walking or running can be implemented.

The fact that the time for the first leg massage part (230A) to rotate in the first direction and the time for the second arm massage part (250B) to rotate in the direction corresponding to the first direction correspond to each other means that each time is substantially the same, and that there may be an appropriate range of time differences between each time.

When walking or running on an actual upward or downward slope, there may be a difference between the time when the arm moves and the time when the leg moves. Therefore, it may be desirable for the control unit (270) of the present invention to control such that, when the user selects an upward or downward slope through the user input unit (1400), etc., there is a time difference between the time when the leg massage unit (230A, 230B) rotates and the time when the arm massage unit (250A, 250B) rotates within an appropriate range.

The above-described embodiment can be similarly applied in the second mode. That is, the control unit (270) of the present invention can control the time at which the first leg massage unit (230A) rotates in the first direction and the time at which the first arm massage unit (250A) rotates in a direction corresponding to the first direction by the third operation constituting the second mode so that they correspond to each other. The fourth operation of the second mode is also similar to this.

The control unit (270) of the present invention can be configured to generate counting information for a combination mode (first mode or second mode) using information such as recovery information in which the first direction and the second direction are alternated.

When counting information is generated in this manner, the control unit (270) of the present invention can control the counting information to be displayed to the user using visual media and/or auditory media. In addition, the control unit (270) of the present invention can control the output of guidance information when the counting information corresponds to the number of times information input by the user or the like.

According to an embodiment, a sensor may be further included to detect force applied by a leg area accommodated in a leg massage unit (230A, 230B) and/or an arm area accommodated in an arm massage unit (250A, 250B).

In this case, the control unit (270) of the present invention can control the above-described first mode or second mode to be performed only when the size of the force (driving force) detected from the detection sensor is greater than or equal to a reference value. If configured in this way, a more practical exercise effect can be provided.

In order to be utilized as raw data for exercise history, the control unit (270) of the present invention can control exercise information, such as the start and end times of the first (2) mode, the time-series size of the operating force detected from the detection sensor during the first (2) mode, and the amount of energy consumed, to be stored in the storage unit (1300) of the above-described embodiment. According to the embodiment, the exercise information can be configured to be output to a GUI (Graphic User Interface) environment or transmitted to a user terminal, etc. through the control of the control unit (270) of the present invention.

The above-described processing related to the first (2) mode can of course be applied cyclically if the preset termination conditions, such as log-off, forced termination, system-down, occurrence of an emergency event, etc., are not met (S260A, S260B).

As illustrated in Fig. 16, processing according to one embodiment of the present invention may include an additional step (S200) of determining a mode by user selection or input, etc.

The control unit (270) of the present invention can control processing (S210A, S210B) to be driven corresponding to the mode determined among the first mode or second mode described above when the mode is determined by a user or the like.

According to an embodiment, the control unit (270) of the present invention can control all of the first leg massage unit (230A), the second leg massage unit (230A, 230B), the first arm massage unit (250A, 250B), and the second arm massage unit (250A, 250B) to rotate in the first direction or the second direction as illustrated in FIG. 23 (third mode).

In addition, the control unit (270) of the present invention can control the leg massage unit (230A, 230B) to rotate in a first direction, as illustrated in FIG. 24, and control the arm massage unit (250A, 250B) to rotate in a second direction different from the first direction (fourth mode).

Even in this case, the control unit (270) of the present invention can control the first direction or the second direction to alternate when one cycle of an individual operation is completed as described above.

In addition, the control unit (270) of the present invention can control the driving by the first mode and the second mode described above, as well as the driving by the third mode and the fourth mode, to be applied randomly, sequentially, or in a composite manner based on a combination selected by the user.

When configured in this way, the stimulated muscle area can be time-variant, allowing for more three-dimensional implementation of the effects of exercise, rehabilitation, stretching, etc.

As described above, the first arm massage part (250A) and the second arm massage part (250B) of the present invention are configured to be rotatable vertically (or up-down) or horizontally (or left-right).

The control unit (270) of the present invention can control the first arm massage unit (250A) or the second arm massage unit (250B) to rotate or move in the first direction or the second direction by driving the combination mode described above, so as to rotate in a three-dimensional direction corresponding to the first direction or the second direction.

In the case of this embodiment of the present invention, it is possible to rotate or move upward or downward while having the direction in which both arms are spread or brought together, and it is possible to implement rotation or movement in almost any direction that is necessary or desired by the user.

In the case where a motion in which the length of the leg massage part (230A, 230B) or the length of the arm massage part (250A, 250B) is expanded or contracted in a time series manner is applied in a complex manner through control by the control part (270) as described later according to an embodiment, more diverse and complex motions can be implemented.

For example, the control unit (270) of the present invention can control the fifth operation to be performed in which the lengths of the plurality of leg massage units (230A, 230B) are contracted while the plurality of leg massage units (230A, 230B) rotate in the first direction (upward), and the lengths of the plurality of arm massage units (250A, 250B) are extended while the plurality of arm massage units (250A, 250B) rotate in the second direction (downward).

When one cycle of the above fifth operation is completed, the control unit (270) of the present invention can control the sixth operation to be performed in which the lengths of the multiple leg massage units (230A, 230B) are extended while the multiple leg massage units (230A, 230B) rotate in the second direction (downward), and the lengths of the multiple arm massage units (250A, 250B) are contracted while the multiple arm massage units (250A, 250B) rotate in the first direction (upward).

According to an embodiment, the control unit (270) of the present invention can control the longitudinal expansion direction of the multiple leg massage units (230A, 230B) and the longitudinal expansion direction of the multiple arm massage units (250A, 250B) to be opposite to each other without the rotational motion of the multiple leg massage units (230A, 230B) and/or the multiple arm massage units (250A, 250B).

For example, the control unit (270) of the present invention can control the operation of extending the length of the plurality of leg massage units (230A, 230B) and the operation of contracting the length of the plurality of arm massage units (250A, 250B) to be linked together, or can control the operation of contracting the length of the plurality of leg massage units (230A, 230B) and the operation of extending the length of the plurality of arm massage units (250A, 250B) to be linked together.

When the control unit (270) of the present invention controls at least one of the first leg driving unit (240A), the second leg driving unit (240B), the first arm driving unit (260A), and the second arm driving unit (260B) so that the fifth and sixth operations are cyclically repeated, a mode (rowing mode) corresponding to a rowing motion can be implemented, thereby providing a corresponding effect to the user.

The rowing mode is a mode that can be combined with the fourth mode described above, and is controlled by the control unit (270) of the present invention so that the length of the plurality of leg massage parts (230A, 230B) rotating upward (clockwise, etc.) in the operation relationship diagram exemplified in Fig. 24 is contracted, and the length of the plurality of leg massage parts (230A, 230B) rotating downward (counterclockwise, etc.) is contracted.

In addition, the control unit (270) of the present invention can control the length of the plurality of arm massage units (250A, 250B) that rotate downward in the rowing mode to be extended, and the length of the plurality of arm massage units (250A, 250B) that rotate downward to be contracted.

The control unit (270) of the present invention can control at least one of the leg rotation unit (240A, 240B) and the body drive unit (220) so that the leg massage unit (230A, 230B) rotates clockwise by a preset reference angle and/or the body massage unit (210) tilts backward by a preset reference angle in order to secure sufficient space for movement, rotation, etc. of the leg massage unit (230A, 230B) and the arm massage unit (250A, 250B) and prevent safety accidents before the combination mode (first mode to fourth mode, etc.) according to the present invention is initiated or the first relative operation or second relative operation described above is driven (S300, S400; see FIGS. 17 and 18).

Depending on the embodiment, the above recline operation may be performed at the beginning of the combination mode (first mode to fourth mode, etc.) or the first or second relative operation.

It is preferable that the angular ranges of rotation of at least one of the first leg massage unit (230A), the second leg massage unit (230B), the first arm massage unit (250A), and the second arm massage unit (250B) in combination mode be automatically set using DB-ized user information (such as identification information), measured body information of the user, or variably set by a method such as a user selecting using an interface means (such as the user input unit (1400) described above).

Since the available range of the body or the location/angle of pain may vary depending on the user's characteristics, symptoms, injured area, etc., if the rotation angle range is adjusted by the combination mode according to the user's choice, etc., higher user orientation can be achieved.

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

According to the embodiment, an input button or the like that can select multiple angle ranges through a GUI environment such as a user input unit (1400) may be provided, and the rotation angle range may be variably set by the user selecting the provided interface environment, etc. In addition, a method in which multiple selectable angle ranges are guided through an audio output module (1500) and an angle range is selected through voice recognition, etc. may also be applied.

As described above, each of the leg massage parts (230A, 230B) of the present invention can be configured to be able to expand in length, and each of the arm massage parts (250A, 250B) of the present invention can also be configured to be able to expand in length.

The control unit (270) of the present invention can control the length of the leg massage unit (230A, 230B) to decrease (S330A, S430A) when the leg massage unit (230A, 230B) rotates (S310, S410) by driving the first or second relative operation and combination mode described above (S320A, S420A).

The control unit (270) of the present invention can control the length of the leg massage unit (230A, 230B) to increase (S330B, S430B) when the leg massage unit (230A, 230B) rotates (S310, S410) by driving the first or second relative motion and combination mode, etc., and the rotation direction is downward (S320A, S420A).

In addition, the control unit (270) of the present invention can control the length of the arm massage unit (250A, 250B) to decrease (S330A, S430A) when the arm massage unit rotates (S310, S410) in an upward direction (S320A, S420A), and can control the length of the arm massage unit to increase (S330B, S430B) when the arm massage unit rotates (S320A, S420A) in a downward direction (S330B, S430B).

In this way, the length of the leg massage parts (230A, 230B) is adaptively adjusted by organically reflecting the directionality of the leg massage parts (230A, 230B), and the length of the arm massage parts (250A, 250B) is adaptively adjusted by organically reflecting the directionality of the arm massage parts (250A, 250B), thereby more effectively inducing motions or movements corresponding to the actual behavioral characteristics of the human body structure, such as walking or running, and providing the user with corresponding effects, such as exercise, stretching, and rehabilitation.

As described above, according to the embodiment of the present invention, each leg massage unit and/or each arm massage unit may decrease in length when the rotation direction is upward, and may increase in length when the rotation direction is downward, based on the control of the control unit (270), but is not limited thereto. For example, each leg massage unit and/or each arm massage unit may be variously controlled such that the length increases or increases and then decreases, or decreases and then increases, when the rotation direction is upward, and the length decreases or decreases and then increases, or increases and then decreases, when the rotation direction is downward.

In addition, the control unit (270) of the present invention can control the first leg air cell (231A) provided in the first leg massage unit (230A) or the second leg air cell (231B) provided in the second leg massage unit (230B) to contract when the first or second leg massage unit (230A, 230B) rotates upward (S340A, S440A).

Conversely, the control unit (270) of the present invention controls the first leg air cell (231A) provided in the first leg massage unit (230A) or the second leg air cell (231B) provided in the second leg massage unit (230B) to expand when the first or second leg massage unit (230A, 230B) rotates downward (S340B, S440B).

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

Therefore, by organically reflecting the rotational direction of the corresponding leg massage part (230A, 230B) in this way, the expansion and control of the corresponding air cell (231A, 231B) are cyclically controlled with a time series, thereby inducing repeated muscle tension according to length extension and muscle relaxation according to length shortening, thereby enhancing the effect of exercise, etc., and also providing the effect of injury prevention, etc.

The method of combining rotational direction and air cell expansion/contraction control can also be applied to the arm massage section (250A, 250B).

For example, when the second arm massage unit (250B) rotates in the first direction (upward) or in a direction corresponding to the first direction (S320), the control unit (270) of the present invention controls the second arm air cell (251B) provided in the second arm massage unit (250B) to contract (S340A), and when the second arm massage unit (250B) rotates in the second direction (downward) or in a direction corresponding to the second direction (S320), the control unit (270) of the present invention can control the second arm air cell (251B) provided in the second arm massage unit (250A, 250B) to expand (S340B).

As described above, when each leg massage part and/or each arm massage part rotates upward or in a direction corresponding thereto based on the control of the control part (270), the air cell contracts, and when it rotates downward or in a direction corresponding thereto, the air cell expands, but is not limited thereto. For example, when the rotational direction of each leg massage part and/or each arm massage part is upward, the air cell expands, or expands and then contracts, or contracts and then expands, and when the rotational direction is downward, the air cell contracts, contracts and then expands, or expands and then contracts, and so on, and various other adjustments can be made.

Fig. 17 is an example of a processing process for the first mode, and is described based on the first leg massage part (230A) and the second arm massage part (250B) that form a pair, but as described above, it goes without saying that the corresponding processing can also be applied to the second leg massage part (230B) and the first arm massage part (250A, 250B) that correspond to other pairs.

Fig. 18 is an example of a processing process for the second mode, and is described based on the first leg massage part (230A) and the first arm massage part (250A) that form a pair, but as described above, it goes without saying that the corresponding processing can also be applied to the second leg massage part (230B) and the second arm massage part (250B) that correspond to another pair.

As illustrated in FIGS. 17 and 18, when one cycle of the first mode or the second mode is completed (S350, S450), the rotation direction of the first leg massage unit (230A) or the like can be switched (S360, S460) as described above so that the cyclical operation can be alternated.

According to an embodiment, the massage device (200) of the present invention may include additional air cells (211) provided on the user's shoulder area or/and pelvic area.

In this case, when the rotation of the first arm massage part (250A) or/and the second arm massage part (250B) is performed by the operation of the second relative motion or combination mode, the control part (270) of the present invention can control the additional air cell (211) to contract in order to prevent injury, expand the available range, etc.

Although the present invention has been described above by means of limited embodiments and drawings, the present invention is not limited thereto, and various modifications and variations are possible by those skilled in the art within the scope of the technical idea of the present invention and the equivalent scope of the patent claims to be described below.

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

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

The control method of the massage device (200) according to the present invention described above can be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices (CD-ROM, RAM, ROM, floppy disk, magnetic disk, hard disk, magneto-optical disk, etc.) that store data that can be read by a computer, and also includes a server for wired and wireless Internet transmission.

In addition, the massage device configuration and function of the present specification can be extended and applied to various (wearable) healthcare devices that can provide healthcare functions (e.g., massage/massage function, bio-signal measurement function, etc.). Accordingly, it goes without saying that the 'massage device' of the present specification can be replaced with the '(wearable) healthcare device'.

200: Massage device

210: Body massage section 220: Body movement section

230A: 1st leg massage section 230B: 2nd leg massage section

240A: 1st bridge drive unit

240AL: 1st leg length adjustment part 240AR: 1st leg rotation part

240B: 2nd bridge drive unit

240BL: Second leg length adjustment part 240BR: Second leg rotation part

250A: 1st Arm Massage Department 250B: 2nd Arm Massage Department

260A: 1st Palgudongbu

260AL: 1st arm length adjustment part 260AR: 1st arm rotation part

260B: 2nd Palgudongbu

260BL: 2nd arm length adjustment part 260BR: 2nd arm rotation part

231A(B): 1st(2) leg air cell 251A(B): 1st(2) arm air cell

211: Additional air cell

Claims (24)

A body massage unit for massaging at least a part of the user's body; First and second leg massage parts positioned at the lower portion of the above body massage part and capable of rotating in two or more directions; A first arm massage unit positioned at a position corresponding to the first leg massage unit and capable of rotating in two or more directions; A second arm massage part positioned corresponding to the second leg massage part and capable of rotating in two or more directions; and A massage device characterized by including a control unit that controls at least one of the first relative movement of the first leg massage unit and the second leg massage unit and the second relative movement of the first arm massage unit and the second arm massage unit to be performed. In the first paragraph, the control unit, A massage device characterized in that at least one of the rotation and rotation direction of the first leg massage unit and the second arm massage unit is interlocked, and at least one of the rotation and rotation direction of the second leg massage unit and the first arm massage unit is controlled to be interlocked. In the first paragraph, the control unit, A massage device characterized in that at least one of the rotation and rotation direction of the first leg massage unit and the first arm massage unit is controlled to be linked, and at least one of the rotation and rotation direction of the second leg massage unit and the second arm massage unit is controlled to be linked. In the second paragraph, the control unit, A massage device characterized in that it controls to perform a first operation in which the first leg massage part rotates in a first direction and the second arm massage part rotates in a direction corresponding to the first direction, and a second operation in which the second leg massage part rotates in a second direction different from the first direction and the first arm massage part rotates in a direction corresponding to the second direction. In the third paragraph, the control unit, A massage device characterized in that it controls to perform a first operation in which the first leg massage part rotates in a first direction and the first arm massage part rotates in a direction corresponding to the first direction, and a second operation in which the second leg massage part rotates in a second direction different from the first direction and the second arm massage part rotates in a direction corresponding to the second direction. In the fourth or fifth paragraph, the first and second arm massage parts, It is configured to be rotatable in vertical and horizontal directions, The above control unit, A massage device characterized in that the first arm massage part or the second arm massage part is controlled to rotate in a three-dimensional direction corresponding to the first direction or the second direction. In the fourth or fifth paragraph, the control unit, A massage device characterized in that the first and second directions are controlled to alternate repeatedly. In the first paragraph, A massage device, characterized in that the angular range of rotation of at least one of the first leg massage unit, the second leg massage unit, the first arm massage unit and the second arm massage unit is variably set by at least one of user information, user body information and the user's selection information. In the seventh paragraph, the control unit, A massage device characterized in that it generates counting information using the number of times the first and second directions are alternated, and controls the output of guidance information when the counting information corresponds to the number of times information entered by the user. In the first paragraph, It further includes a body driving part that changes the position or posture of the above body massage part, The above control unit, A massage device characterized in that the body driving unit is controlled so that the reclining motion in which the body massage unit is tilted backward precedes the first or second relative motion. In the fourth or fifth paragraph, the control unit, A massage device characterized in that the time at which the first operation is performed and the time at which the second operation is performed are controlled to correspond to each other. In the fourth paragraph, the control unit, A massage device characterized in that the time for which the first leg massage part rotates in the first direction and the time for which the second arm massage part rotates in a direction corresponding to the first direction are controlled to correspond to each other by the first operation. In the fifth paragraph, the control unit, A massage device characterized in that the time for which the first leg massage part rotates in the first direction and the time for which the first arm massage part rotates in a direction corresponding to the first direction are controlled to correspond to each other by the first operation. In the first paragraph, It further includes at least one of the first leg air cell provided in the first leg massage section, the second leg air cell provided in the second leg massage section, the first arm air cell provided in the first arm massage section, and the second arm air cell provided in the second arm massage section. The above control unit, A massage device characterized in that when the first or second relative movement is performed, at least one of the first leg air cell, the second leg air cell, the first arm air cell, and the second arm air cell is controlled to expand. In the first paragraph, the first and second leg massage parts, It is configured to allow for length expansion, The above control unit, A massage device characterized in that, when the first or second relative movement is performed, the length of the leg massage part that rotates upward among the first and second leg massage parts is controlled to decrease, and the length of the leg massage part that rotates downward is controlled to increase. In Article 15, The first leg air cell provided in the first leg massage section; and It further includes a second leg air cell provided in the second leg massage section, The above control unit, A massage device characterized in that when the first or second leg massage part rotates upward, the first or second leg air cell is controlled to contract, and when the first or second leg massage part rotates downward, the first or second leg air cell is controlled to expand. In the first paragraph, the first and second arm massage parts, It is configured to allow for length expansion, The above control unit, A massage device characterized in that, when the first or second relative movement is performed, the length of the arm massage part rotating in a direction corresponding to the upward direction among the first and second arm massage parts is controlled to decrease, and the length of the arm massage part rotating in a direction corresponding to the downward direction is controlled to increase. In the first paragraph, It further includes an additional air cell provided on the shoulder or pelvic area of the user. The above control unit, A massage device characterized in that, when the second relative movement is performed, the additional air cell is controlled to contract. In the first paragraph, the control unit, A massage device characterized in that at least one of the rotation and rotation direction of the first leg massage unit, the second leg massage unit, the first arm massage unit, and the second arm massage unit is controlled to be linked. In the first paragraph, the control unit, A massage device characterized in that the first and second leg massage parts are controlled to rotate in a first direction, and the first and second arm massage parts are controlled to rotate in a second direction that is different from the first direction. In the first paragraph, the control unit, A massage device characterized in that the rotation of the first and second leg massage parts in the first direction and the length contraction of the first and second leg massage parts are controlled to be linked, and the rotation of the first and second arm massage parts in the second direction, which is different from the first direction, and the length extension of the first and second arm massage parts are controlled to be linked. In Article 15, A first leg driving unit that drives at least one of rotation and longitudinal extension of the first leg massage unit; and A massage device characterized by further including a second leg driving unit that drives at least one of rotation and longitudinal expansion of the second leg massage unit. In Article 17, A first arm driving unit that drives at least one of rotation and longitudinal extension of the first arm massage unit; and A massage device characterized by further including a second arm driving unit that drives at least one of rotation and longitudinal extension of the second arm massage unit. A method for controlling a massage device including a body massage unit that massages at least a part of a user's body, first and second leg massage units that are arranged at a lower portion of the body massage unit and can rotate in two or more directions, a first arm massage unit that is arranged at a position corresponding to the first leg massage unit and can rotate in two or more directions, and a second arm massage unit that is arranged at a position corresponding to the second leg massage unit and can rotate in two or more directions, A control method for a massage device, characterized in that it includes a control step of controlling the first leg massage unit and the second leg massage unit to operate relative to each other, and controlling the first arm massage unit and the second arm massage unit to operate relative to each other.

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