US 2010/0137761 A1 · MASSAGE APPARATUS

Abstract

A massage apparatus in this invention comprises a massage mechanism, an actuator, and a controller. The massage mechanism has at least three rotational or translational joints to which an applicator is connected for contact with a human body. The actuator is configured to drive each of the joints independently from each other. The displacement detection means is configured to detect a displacement of each of the joints. The controller is provided for controlling the actuators. The controller is configured to provide a predetermined trace control plane. The controller comprises a position control means and a force control means. The position control means is provided for controlling a tracing path of the applicator in the trace control plane. The force control means is provided for controlling a force exerted by the applicator in a normal direction to the trace control plane.

Claims11

Dependent claims

A massage apparatus comprising:

a massage mechanism having at least three rotational or translational joints to which an applicator is connected for contact with a human body,
an actuator configured to drive each of said joints independently from each other;
a displacement detection means configured to detect a displacement of each of said joints;
and
a controller for controlling said actuators,
wherein said controller is configured to provide a predetermined trace control plane, and comprises a position control means for controlling a tracing path of said applicator in said trace control plane, and a force control means for controlling a force exerted by said applicator in a normal direction to said trace control plane,
wherein said controller is configured to give a speed demand value to driving the actuator of each of said joints.

4 more elements

Dependencies are inferred from the claim text.

Massage apparatus

Life of this patent

Massage apparatus

Life of this patent

Abstract

Claims11