Massage apparatus

The present invention relates to a massage apparatus. More particularly, the invention relates to a massage apparatus which maintains the applied force of a massage head. The apparatus has massage head that is attached to a movable block. The movable block can be repositioned to apply force to a subject. A force sensor constantly transmits applied force readings to a microprocessor which maintains the applied force by adjusting the position of the movable block relative the subject's body.

FIELD OF THE INVENTION

The present invention relates to a massage apparatus. More particularly, the invention relates to a massage apparatus which maintains the applied force of a massage head.

BACKGROUND

Massage therapy serves as an alternative treatment modality for individuals seeking relief from strains and aches that is complementary to services offered by physiotherapists and Chinese physicians. Ailments that may be treated by a massage therapist include sports-related injuries such as muscle pulls, stiff neck and shoulders, along with chronic conditions such as lower back pain amongst others. However the provision of therapeutic massages is hindered by a shortage of trained therapists, hence there has been sustained interest in developing automated massage apparatuses that may serve as a substitute for human massage therapists.

Massage chairs currently marketed and sold while able to provide a massage-like effect are not able to adequately replicate a massage experience delivered by a human therapist. Another approach that has been explored is the use of robotic limbs with a massage head as an end effector. This is exemplified in CN203694079U which discloses a mechanical arm that drives a massage head to press the soft tissue of a patient's body, where the application of the force stops when the massage force reaches a certain value. The use of a mechanical arm to exert pressure on the human body poses potential safety issues particularly in the event of a malfunction since it is generally capable of exerting a force sufficient to inflict injury on a patient.

A need therefore exists for a robotic limb capable of providing a massage experience similar to that of massage therapists in a manner that ensures the safety of the subject is not compromised.

SUMMARY OF THE INVENTION

The primary embodiment of the invention is a massage apparatus comprising a support structure, a movable block movably disposed within the support structure, a massage head attached to the movable block, a force sensor and a microcontroller. The microcontroller is configured to dynamically reposition the movable block along an axis to maintain an applied force within a predetermined range in response to applied force readings transmitted by the force sensor.

In an optional design of the primary embodiment, the movable block comprises an outer stage and an inner stage that are compressible towards each other along the axis.

DETAILED DESCRIPTION OF THE INVENTION

In the following detailed description, reference is made to the accompanying drawings, which form a part hereof. The illustrative embodiments described in the detailed description, drawings and claims are not meant to be limiting. Other embodiments can be utilized, and other changes can be made, without departing from the spirit or scope of the subject matter presented herein.

The massage apparatus may form part of a larger system for example, a robotic massage system where the massage apparatus is mounted to a robotic limb and serves as the end effector. In other words the massage apparatus serves as a device located at the end of a robotic limb that interacts with the environment, which in the context of the present invention is typically the subject's body. When employed in this manner, the robotic limb serves to guide the massage apparatus to a position that is proximate to the subject's body. Direct contact with the patient's body for safety reasons, is not achieved by way of the robotic limb but instead by the massage apparatus itself. However once contact is achieved, the robot arm moves the massage apparatus across the surface of the patient's body, that is movement that is parallel to the longitudinal axis of the subject's body while contact pressure is determined by the massage apparatus. Alternatively, the massage apparatus can be hand operated where an operator positions the apparatus close to or in contact with the patient. It is envisaged that multiple massage apparatuses may be connected to a single robotic limb.

Referring toFIGS. 1 and 2, the primary embodiment of the invention is a massage apparatus comprising a support structure102, a movable block103movably disposed within the support structure, a massage head104attached to the movable block103, a force sensor202and a microcontroller (not depicted).

The support structure comprises an upper segment111and a lower segment112connected by support columns114. A middle segment serves as an attachment point for a reversible motor105.

The movable block103comprises an outer stage201a, and mounting brackets203for attaching the massage head104and an attachment point such as nut201to allow the fastening of the movable block103to a mechanism which enables movement of the movable block103along at least axis116. While the drawings depict the mechanism as being a ball screw (not depicted) and nut201, alternatives such as a lead screw, pulley and belt, gear and threaded rod and linear track gear pair may be employed. It will be readily understood by a skilled addressee that any mechanism that permits movement along axis116can be used. Motive force for the movable block103is provided by a transmission comprising a reversible motor105, pulleys106and108and belt107which impart rotational movement to the ball screw having a longitudinal axis parallel to axis116.

As the ball screw rotates, its rotational motion is converted to linear motion causing the nut201and hence the movable block103to move along axis116. When placed under control of the microcontroller, the movable block103can make contact with the subject's body in a controlled manner independent from that of the robotic limb it may be attached to. Once contact is made, further movement of the nut201towards the subject's body will increase the applied force exerted till it is within a predetermined range. Applied force typically ranges for 20-80N during regulation operation. The force sensor202also known as a force-sensitive resistor constantly measures the force applied to the subject's body and transmits the readings to the microcontroller configured to keep the applied force within a predetermined range. In some embodiments the force sensor202is away from the movable block103and is instead functionally disposed within massage head114. Should applied force readings start to fall outside the predetermined range, the microcontroller can reposition the movable block103to decrease or increase the applied force such that it is once again within the predetermined range. This predetermined range may be adjusted automatically or manually during the course of the massage routine. Applied force readings are constantly transmitted during operation, which permits rapid response to prevailing conditions. The applied force exerted on a patient can change due to variations of the target massage area. This can occur for example when the massage head that was previously in contact with an area of the body with relatively high levels of subcutaneous adipose tissue makes a sudden transition to a region where the bone structure is more prominent where if the applied force is not reduced, which may result in discomfort and possibly harm to the patient.

In some embodiments, the movable block103may comprise an inner stage204athat is compressible towards the outer stage201aalong axis116. Compressibility may be achieved by way of an elastic means205aset in between the inner stage204aand outer stage201a. The elastic means205amay be a coil spring such as a compression spring. In some embodiments, the movable block103may further comprise an additional set consisting of an outer stage201b, inner stage b and elastic means205bwhere a spacer206separates inner stages204aandband where the outer stages201aandband orientated in opposite directions along the axis116. The compressibility of the stages201aand204aaffords the movable block103with a measure of compliance to smoothen sudden changes in applied force encountered during the course of a massage. When used in conjunction with the adaptive measures employed by continuously varying the position of the movable block103in response to force sensor readings, the compliant movable block103minimises potential harm to the patient which may otherwise result from sudden and unexpected increases in applied force. The belt107serves as a physical failsafe in the event other safety features are compromised by selecting belts107that are capable of deforming and/or snapping when the force applied to the subject's body exceeds a predefined value, resulting in a break in the transmission of motive force thus preventing injury to the patient's body. A predefined value of approximately 150N is preferable. However a skilled addressee would understand that a human subject's pain tolerance may vary significantly.

In other embodiments that employ a compliant movable block103, the force sensor202may measure the deflection of the elastic means205aandbas an alternative to measuring the applied force directly so long as the elastic means205aandbdemonstrates linear elasticity.

Referring toFIGS. 3 and 4, the massage apparatus may further comprise a rotation module301that connects movable block103to massage head104. The rotation module301is fastened to the movable block by bolt303and overlapping segments302aandbof supporting structure. The rotation module comprises motor304transmits rotational motion by way of drive shaft401defining a second axis308to main shaft pulley402which terminates at lower plate306. The main shaft pulley402is mechanically linked to follow shaft pulleys403via cogs which are present on either pulley. While the drawings depict three follow shaft pulleys, the use of a plurality of follow shaft pulleys is within the scope contemplated by the present invention. The follow shaft pulleys403in turn transmit rotational motion to follow shafts406which extend through lower plate306and are attached to cranks406which in turn are each movably attached to massage head104by crank shafts407at an offset such that when motor304is powered, massage head104revolves about the second axis308. In some embodiments, the main shaft pulley402is mechanically linked to a single follow drive pulley403via a chain or a belt and both the drive shaft401and follow shaft406extend through lower plate306to communicate rotational motion to the massage head114. The cogs, the chain, or the belt as described above constitute a linking means.

Referring toFIG. 5, the massage head comprises a hard outer layer504, a soft inner layer,505, a force sensor202b, a vibration motor506and a heating layer503having a heating element and a temperature sensor.

The hard outer layer504is primarily medical-grade silicone, silicone rubber, polyethylene terephthalate (PET), thermoplastic polyurethane (TPU) with a Shore Hardness of 80-100 on the OO scale while the soft inner layer505is silicone, rubber, silicone rubber, thermoplastic elastomers (TPE), thermoplastic polyurethane (TPU) with a Shore Hardness of less than 80 on the OO scale. The force sensor202bis partially encapsulated in a compartment507within the soft inner layer505. In some embodiments the compartment507is lined with hard a hard inner layer (not depicted) which has been found to improve the accuracy of force sensor readings over compartment507without the hard inner layer. The hard inner layer is primarily medical-grade silicone, silicone rubber, polyethylene terephthalate (PET), thermoplastic polyurethane (TPU) with a Shore Hardness of 80-100 on the OO scale. A skilled addressee will appreciate that any material exhibiting a Shore Hardness as specified above may be suitable substitutes. The heating element is configured to heat the massage head to a temperature slightly higher than that of the human body or approximately 40 degree Celsius.

The massage head114may be shaped to resemble a part of the human body such as a palm as depicted inFIG. 1or a finger as depicted inFIG. 3. A skilled addressee would understand that the massage head114may be shaped to resemble any body part used in a massage routine such but not limited to feet, elbows, forearms or knees.