Patent Publication Number: US-2022234210-A1

Title: Massage system and massage device

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to Japanese Patent Application No. 2021-011543, filed on Jan. 27, 2021, and Japanese Patent Application No. 2021-011544, filed on Jan. 27, 2021, which are incorporated by reference herein in their entirely. 
     TECHNICAL FIELD 
     Certain embodiments of the present disclosure relate to a massage system and a massage device. 
     BACKGROUND 
     Massage refers to an act of giving a physical stimulus to a person being treated, and is typically performed by a therapist who is called a masseur or the like. Depending on the massage technique being applied, massage may be physically demanding on the therapist. 
     Hence, the use of a robot body care system where a robot hand is used to provide massage instead of a human therapist has been proposed in the related art. 
     SUMMARY 
     According to an embodiment of the present invention, a massage system for a massage facility has a robot arm to perform a massage on a user. The system includes a control unit configured to cause the robot arm to perform a massage operation according to a program, and a setting unit configured to receive a setting operation of a setting position used for the massage operation from an operator. The control unit is configured to cause the robot arm to perform the massage operation with respect to a treatment position based on the setting position. More details will be described as an embodiment described below. 
     According to another embodiment of the present invention, a massage device for a massage facility performs a pre-finishing massage on a person being treated. Then, a therapist performs a finishing massage after treatment of the pre-finishing massage. The device includes a computing device configured to generate provision information provided to the therapist for the finishing massage from information obtained during the treatment of the pre-finishing massage, and outputs the provision information after the treatment of the pre-finishing massage. More details will be described as an embodiment described below. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic diagram showing overview of a massage system and a manner of using the massage system, according to an embodiment. 
         FIG. 2  is a diagram describing a configuration of a massage device included in the massage system and a setting operation of a setting position by using a robot arm of the massage device, according to one embodiment. 
         FIG. 3  is a schematic block diagram showing a configuration of a computing device included in the massage system, according to one embodiment. 
         FIG. 4  is a diagram describing a flow of treatment of massage with respect to a user by using the massage system, according to one embodiment. 
         FIG. 5  is a diagram describing another example of the setting operation of the setting position by using the robot arm of the massage device, according to one embodiment. 
         FIG. 6  is a diagram describing a method of machine training of a learning model used in the computing device, according to one embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     First, a massage device (also referred to as “body care device”) as proposed in the related art is a device provided separately from a treatment table, and is set to the treatment table for use. That is, a position of the massage device with respect to the person being treated who lies on the treatment table is not fixed. As a result, when the position of the massage device with respect to the person being treated is different from a predetermined treatment position, the desired massage effect may not be achieved even after the massage device performs a massage operation according to a program. Therefore, it is desirable to have a massage system to be appropriately installed according to the treatment position of the person being treated. 
     Secondly, it is assumed that in addition to the massage operation by the robot hand according to the program, the massage by the therapist such as the masseur or the like is additionally performed. In this case, it is desirable to have the massage given by the therapist to be effective based on the massage operation performed by using the robot hand according to the program. 
     1. Overview of Massage System and Massage Device 
     (1) A massage system according to an embodiment is for a massage facility in which a robot arm is provided and a massage is performed with respect to a user by the robot arm. The system includes a control unit configured to cause the robot arm to perform a massage operation according to a program, and a setting unit configured to receive a setting operation of a setting position used for the massage operation from an operator. The control unit is configured to cause the robot arm to perform the massage operation with respect to a treatment position based on the setting position. 
     The massage facility refers to a facility where a therapist can perform a massage on a user. The massage facility is, for example, a massage shop, an acupuncture and moxibustion clinic, a beauty treatment salon, an osteopathic clinic, and the like. The therapist is a person who performs the massage on the user, and includes, for example, a masseur, an esthetician, a chiropractor, or a bonesetter. 
     The setting operation of the setting position is performed by, for example, a person other than the person being treated. The person other than the person being treated is, for example, a therapist, such as a masseur or the like, or a staff member of the massage facility. 
     The setting position is a position used for the massage operation in the massage device including the robot arm, and can include, for example, a reference position depending on the physique of the user. Further, the setting position can include a specific position as a position for designating an adjustment of the massage operation. The specific position refers to, for example, a focused treatment position such as a place of stiffness, a treatment contraindication position such as a place in which the massage is not desirable, and the like. 
     In the massage system, the massage operation is performed by the robot arm with respect to the treatment position obtained from the setting position used for the massage operation as set by the setting operation of the operator. That is, the robot arm can be appropriately positioned at the treatment position of the person being treated. As a result, the massage can be performed in the treatment position suitable for the user. 
     The setting position may include the reference position depending on the physique of the user. The reference position is a position depending on the physique of the user, for example, a shoulder position, a waist position, an acupuncture point position, and the like. By setting these positions, the physique of the user is identified, and the massage operation with respect to the appropriate treatment position is performed. 
     (3) The setting position may include the specific position for designating the adjustment of the massage operation. The adjustment of the massage operation includes, for example, an adjustment of at least one of the intensity and the content of the massage. The content of the massage may include, for example, a massage position, a skill corresponding to the massage operation, or the like. The specific position includes, for example, the focused treatment position such as the place with stiffness, the treatment contraindication position such as the place in which the massage is not desirable, and the like. As a result, the massage suitable for the user or the massage desired by the user can be performed. 
     (4) The setting position may include a reference position depending on the physique of the user and a specific position for designating an adjustment of the massage operation, and the setting unit is configured to separately set the reference position and the specific position. As a result, both the reference position and the specific position can be set. 
     (5) The control unit may be configured to identify the setting position by having an operator guides the robot arm. That is, the operator can perform the setting operation of the setting position by using the robot arm. 
     (6) The robot arm may be placed in a setting mode in which a guiding motion can be performed, when the setting position is set. The setting mode is, for example, a state in which the position of the robot arm can be moved by a human hand, and, as an example, a state in which a lock that restricts a movement is released. As a result, the operator can perform the setting operation of the setting position by using the robot arm. 
     (7) The setting unit may include an operation unit that is disposed at a position at which the setting unit is operable during the guiding motion and configured to decide that a position of the robot arm is the setting position. An operation unit involves contact with the operator, such as a button. The operator easily operates the setting unit during the guiding motion by disposing the setting unit at a position at which the setting unit is operable during the guiding motion. 
     (8) The massage system may further include a reading device configured to read a marker, in which the control unit is configured to recognize the setting position by reading the marker installed at a position that corresponds to the setting position, of a body of the user by the reading device. For example, the reading device is a camera. The setting position can be set by reading the marker by the reading device. 
     (9) A massage device according to an embodiment is for a massage facility where a pre-finishing massage is performed by the massage device on a person being treated and a finishing massage is performed by a therapist after treatment of the pre-finishing massage. The device includes a computing device configured to generate provision information to be provided to the therapist for the finishing massage from information obtained during the treatment of the pre-finishing massage, and outputs the provision information after the treatment of the pre-finishing massage. 
     The massage facility is, for example, the massage shop, the acupuncture and moxibustion clinic, the beauty treatment salon, the osteopathic clinic, and the like, and is a facility in which the massage can be performed by, for example, the therapist such as a masseur, a esthetician, a chiropractor, or a bonesetter who performs the massage with respect to the person being treated. 
     By generating and outputting the provision information to the therapist for the finishing massage, the therapist can perform the finishing massage based on the provision information. As a result, the therapist can effectively perform the finishing massage based on the massage operation of the pre-finishing massage. 
     (10) The provision information may include information indicating a treatment content of the pre-finishing massage. As a result, the therapist can effectively perform the finishing massage based on the treatment content of the pre-finishing massage. 
     (11) The provision information may include information indicating a treatment effect of the pre-finishing massage. The information indicating the treatment effect includes, for example, information indicating the state of the person&#39;s body being treated after the treatment, and specifically, information indicating a portion in which stiffness is eliminated, a portion in which the stiffness remains, and the like. As an example, these pieces of information may be output as a map schematically showing the body of the person being treated. As a result, the therapist can perform the finishing massage based on the treatment effect of the pre-finishing massage. 
     (12) The massage device may further include a microphone. The computing device is configured to provide voice data obtained by the microphone during a period related to the treatment of the pre-finishing massage to a learning model. The learning model is machine-trained to provide output information with respect to input of the voice data. The computing device obtains the output information provided from the learning model, and the provision information includes the output information. 
     The period related to the treatment of the pre-finishing massage includes at least one of a period during the massage operation of the pre-finishing massage, a period after the massage operation of the pre-finishing massage, and a period before the massage operation of the pre-finishing massage. The provision information can be easily generated by using the learning model. 
     (13) The voice data may include data indicating the treatment effect of the pre-finishing massage obtained from utterance of the person being treated. As a result, the treatment effect of the pre-finishing massage can be obtained from the voice data, and the provision information can be generated based on the treatment effect. 
     (14) The massage device may further include a speaker. The computing device is configured to output voice for a dialogue with the person being treated through the speaker during the period related to the treatment of the pre-finishing massage. As a result, the voice data of a dialogue type is obtained from the person being treated during the period related to the treatment of the pre-finishing massage. As a result, the treatment effect of the pre-finishing massage can be obtained, and can be used to generate the provision information. 
     (15) The computing device may be configured to store the provision information in association with specific information of the person being treated in a storage device that can be accessed by another device. The other device may be, for example, a terminal device carried by the therapist. As a result, the therapist can obtain the provision information even when the therapist is in a location different from a location where the pre-finishing massage is performed. As a result, for example, it is possible to perform the pre-finishing massage and the finishing massage in different locations. 
     2. Examples of Massage System and Massage Device 
     With reference to  FIG. 1 , a massage system  100  (hereinafter referred to also as “system  100 ”) according to the present embodiment includes a massage device  1  with a robot arm  10 . The system  100  performs the massage on a user (person being treated) PT 1  by the robot arm  10 . 
     The system  100  is assumed to be used in a massage facility. The massage facility is a facility in which massage can be performed on the user PT 1  by a therapist PT 2 . The massage facility is, for example, a massage shop, a acupuncture and moxibustion clinic, a beauty treatment salon, a osteopathic clinic, and the like. The therapist PT 2  is a person who performs the massage on the user, for example, a massager, a esthetician, a chiropractor, or a bonesetter. 
     The system  100  is used to perform a first massage on the user PT 1  using the massage device  1  (step S 1 ) and then a second massage by the therapist PT 2  (step S 2 ). The massage with respect to the user PT 1  may be terminated with the second massage subsequent to the first massage, or the first massage may be further performed after the second massage. 
     The first massage is an automatic massage, which is automatically performed by the massage device  1 . The second massage is a manual massage by the therapist PT 2 , which is performed after the first massage. In other words, the second massage is the finishing massage of the first massage, and the first massage is the pre-finishing massage. In the following examples, the first massage is the pre-finishing massage by the massage device  1 , and the second massage is the finishing massage by the therapist PT 2 . 
     The massage device  1  has a movement function, as described below, and can be moved with respect to a treatment table. When the massage is performed on the user PT 1 , the massage device  1  is moved and set to the treatment table on which the user PT 1  lies. 
     The treatment table is a table on which the user PT 1  who receives the massage lies, and may be, for example, any one of a bed type, a mat type, or a treatment chair type. Lying on the treatment table refers to lying down on a bed or a mat when the treatment table is the bed or the mat, and sitting on a treatment chair when the treatment table is the treatment chair. In the following description, the treatment table is the bed, and the user PT 1  lies down on the bed to receive the treatment. Note that lying down can include both facing downward or facing upward. In the following description, lying down refers to facing downward. 
     In an example of  FIG. 1 , the user PT 1  being treated lies down on a bed  21  installed in a first massage room R 1 . In step S 1 , the massage device  1  is set on the bed  21  and the treatment of the pre-finishing massage is performed on the user PT 1 . Thereafter, in the example of  FIG. 1 , the user PT 1  moves to a second massage room R 2  and lies down on a bed  22 . As another example, the user PT 1  may stay in the first massage room R 1  and the therapist PT 2  may enter the first massage room R 1  to perform the finishing massage. In this case, the massage device  1  may be moved to another massage room (not shown) for use, or may be used on another user in the first massage room R 1 . In step S 2 , the treatment of the finishing massage is performed with respect to the user PT 1  by the therapist PT 2  in the second massage room R 2 . 
     The system  100  includes a computing device  3 . A computing device  3  is connected to the massage device  1  via by wired or wireless communication, and functions as a control unit that causes the robot arm  10  to perform the massage operation in response to a program. In the example of  FIG. 1 , the computing device  3  is a device different from the massage device  1 . As another example, the computing device  3  may be embedded in the massage device  1 . 
     The computing device  3  can communicate with another device via a network  7  such as the Internet. As an example, the computing device  3  is accessible to a server  5 . Note that in a case the server  5  is a storage device mounted on the computing device  3 , the computing device  3  need not be capable of communicating with another device. 
     The server  5  may be accessed by another device. In the example of  FIG. 1 , a terminal device  9  may access the server  5 . As an example, the terminal device  9  may be a terminal device carried by the therapist PT 2 , and specifically, a smartphone, a tablet terminal, or the like. 
     As an example, the massage device  1  is installed in a vicinity of the bed  21  such that the treatment of the massage can be performed on the user PT 1  lying down on the bed  21 .  FIG. 2  is a schematic diagram of a state in which the massage device  1  is disposed on the bed  21 , and is a view taken from above. 
     With reference to  FIG. 2 , the massage device  1  includes the robot arm  10 . The robot arm  10  is formed by one or more robot arms. The robot arm  10  includes, as an example, a pair of left and right robot arms  10 L and  10 R. The robot arms  10 L and  10 R can be individually referred to as the robot arm  10  hereinafter. As another example, the robot arm  10  may be include three or more robot arms. In yet another example, the robot arm  10  may be only include one robot arm. 
     The robot arm  10  is connected to a movement device  12 . As an example, a base end of the robot arm  10  is connected to the movement device  12 . The movement device  12  is configured to move the robot arm  10  with respect to the bed  21 . 
     The movement of the robot arm  10  with respect to the bed  21  includes a movement of the robot arm  10  to the vicinity of the bed  21 . For this movement, the movement device  12  includes, as an example, a caster (not shown) provided at a position relative to a floor surface. The caster may be rotated in response to a control signal from the computing device  3 , or may be rotated manually by the operator such as the therapist PT 2 . As a result, the robot arm  10  can be moved from a position away from the bed  21  to the vicinity of the bed  21 . 
     The movement of the robot arm  10  with respect to the bed  21  includes a movement in a longitudinal direction of the bed  21 . For this movement, the movement device  12  is configured to be movable along a rail  11  installed parallel to the longitudinal direction of the bed  21 , as an example. It is assumed that a positional relationship of the rail  11  with respect to the bed  21  is predetermined and stored in the computing device  3 . 
     The movement device  12  moves the robot arm  10  along the rail  11  in a direction, an amount of movement, and a movement speed in response to the control signal from the computing device  3 . As a result, the robot arm  10  connected to the movement device  12  can be moved in the longitudinal direction of the bed  21 . 
     The robot arm  10  includes a treatment unit. The robot arm  10  includes one or more joints  17  that can be rotated in multiple directions. The rotation in multiple directions may be realized by combining a plurality of uniaxially rotating joints, or may be realized by one or more joints that can be rotated in multiple directions, respectively. In addition, the joint  17  may be a ball joint. In an example of  FIG. 2 , the robot arm  10  includes one joint  17  that can be rotated in multiple directions. The joint  17  is rotated in a rotation direction, an amount of rotation, and a rotation speed in response to the control signal from the computing device  3 . 
     Due to the joint  17  that is rotated in the rotation direction with the amount of rotation and the rotation speed determined in response to the control signal from the computing device  3 , a position of the treatment unit with respect to the base end of the robot arm  10  is changed. Here, the position includes a position on a plane parallel to the bed  21  and a position in a height direction. 
     The treatment unit is, as an example, a massage hand  10   a,  which is provided at a distal end of the robot arm  10 . The massage hand  10   a  includes a drive mechanism (not shown) and is driven in response to the control signal from the computing device  3  at a position held by the robot arm  10 . As a result, the massage hand  10   a  is operated in contact with the treatment position of the user PT 1  at a predetermined pressure to provide a physical stimulus. The operation of the massage hand  10   a  includes, as an example, a kneading or tapping operation. 
     The robot arm  10  is moved in the longitudinal direction of the bed  21  in response to the control signal from the computing device  3 , and the joint  17  is rotated, so that the massage hand  10   a  installed at the distal end of the robot arm  10  is moved to a position in response to the control signal from the computing device  3 . As a result, the massage hand  10   a  can perform the massage operation with respect to the treatment position of the user PT 1 . 
     The computing device  3  receives signals indicating the rotation direction, the amount of rotation, and the rotation speed from the joint  17  of the robot arm  10 . In addition, the computing device  3  receives a signal indicating a driving status from the drive mechanism (not shown) of the massage hand  10   a.  Further, the computing device  3  receives signals indicating the movement direction, the amount of movement, and the movement speed from the movement device  12 . 
     The computing device  3  is configured to identify the position of the massage hand  10   a  based on the signals from the movement device  12  and the signal from the joint  17  of the robot arm  10 . That is, the computing device  3  identifies the position of the base end of the robot arm  10  with respect to the bed  21  based on the signals from the movement device  12 , and identifies the position of the massage hand  10   a  with respect to the base end of the robot arm  10  based on the signals from the joint  17 . As a result, the computing device  3  can identify the position of the massage hand  10   a  with respect to the bed  21 . 
     The massage hand  10   a  may include a sensor (not shown) that provides a sensor signal to the computing device  3 . The sensor is, for example, a pressure sensor. The pressure sensor detects a pressure received from the treatment position of the user PT 1  and provides a signal indicating a result of detection to the computing device  3 . In another example, the sensor is a rotation sensor. The rotation sensor detects a rotation torque or a rotation speed of a motor required for the kneading operation or the tapping operation of the massage hand  10   a,  and provides the signal indicating the result of detection to the computing device  3 . 
     The sensor detects reaction force of the treatment by the massage hand  10   a,  and specifically, detects the reaction force of the treatment which is changed depending on hardness (that is, a degree of stiffness) of a treatment site. In other words, information indicated by the sensor signal may be information indicating the treatment effect of the massage hand  10   a.    
     In the massage device  1 , two operation modes of an operation mode for performing the massage operation (hereinafter, also referred to as a massage mode) and an operation mode for performing a position setting with respect to the user PT 1  (hereinafter, also referred to as a setting mode) are provided. 
     In the massage mode, the computing device  3  controls the movement of the movement device  12  and the joint  17  of the robot arm  10  in order to set the massage hand  10   a  at the treatment position according to a massage operation program  321  ( FIG. 3 ). As a result, the massage hand  10   a  can be moved to a position suitable for the massage with respect to the user PT 1 . 
     In the setting mode, the computing device  3  does not control the drive of the movement device  12  and the joint  17  of the robot arm  10 . As a result, the robot arm  10  or the massage hand  10   a  can be moved by the guiding motion of the operator (e.g., therapist PT 2 ). The guiding motion by the operator may be pushing of the robot arm  10  or the massage hand  10   a  in a movement direction of the operator&#39;s hand, rotating of the joint  17  of the robot arm  10 , and the like. 
     In the setting mode, the computing device  3  identifies the position of the massage hand  10   a  with respect to the bed  21  based on the signals from the movement device  12  and the signals from the joint  17  of the robot arm  10 . As a result, the position of the massage hand  10   a  moved by the guiding motion of the operator with respect to the bed  21  is identified. 
     It is preferable that the movement device  12  include a lock unit  12   a.  The lock unit  12   a  is a mechanism that switches the movement device  12  between a state in which the guide by the operator can be performed and a state in which the guide by the operator cannot be performed. As an example, the lock unit  12   a  is a lock mechanism that inhibits (lock-on) or releases (lock-off) the movement along the rail  11 . Specifically, the lock unit  12   a  performs the lock-on in the massage mode and performs the lock-off in the setting mode. The lock-on may be to physically inhibit the movement, or may be to return the movement device  12  moved by the guide to the position before the movement by the computing device  3 . 
     Also, the joint  17  of the robot arm  10  may also include a similar lock unit  17   a.  The lock unit  17   a  is a mechanism that switches the rotation of the joint  17  between a rotatable state by the guide by the operator and a non-rotatable state. 
     In an example, the lock units  12   a  and  17   a  are switched between the lock-on and the lock-off in response to the control signal from the computing device  3 . Switching between the lock-on and the lock-off may be performed by the operation of the operator with respect to the operation unit, which will be described below. As a result, in the massage mode, the robot arm  10  is not moved even when a hand or the like accidentally hits the robot arm  10 , and the massage operation is continued. 
     The massage device  1  includes a touch panel  13  as an example of the operation unit that receives the operation by the operator. The operation by the operator includes the setting operation of the setting position, which will be described below. 
     The touch panel  13  is disposed at a position that is easily operated by the operator, and is disposed at a base of the robot arm  10  as an example. As a result, the operator in the vicinity of the bed  21  may easily manipulate the touch panel  13 . 
     The touch panel  13  provides an operation signal in response to a user operation to the computing device  3 . The computing device  3  executes a process in response to the operation signal. The user operation on the touch panel  13  is, for example, an operation for designating a result of selection of a massage course. In this case, the computing device  3  executes a process in response to the program corresponding to the selected massage course indicated by the operation signal. As a result, the massage course is selected, and the pre-finishing massage in response to the selected massage course is performed on the user PT 1 . 
     It is preferable that the massage device  1  include setting buttons  13 A and  13 B as an example of the operation unit that receives the operation by the operator. The setting buttons  13 A and  13 B are buttons for providing an instruction for the reference position, which will be described below, and for providing an instruction for the specific position, which will be described below, respectively. 
     The setting buttons  13 A and  13 B are disposed at positions in which the operation can be performed by the operator during the guiding motion of the robot arm  10 . For example, as shown in an enlarged view of a part A of  FIG. 2 , the robot arm  10 R is disposed in the vicinity of the massage hand  10   a.  As a result, the operator easily performs the operation during the guiding motion of the robot arm  10  in a state in which the hand touches the massage hand  10   a  in order to set the reference position or the specific position. Note that in another example, the setting buttons  13 A and  13 B may be provided on the other robot arm  10 L, or may be provided on each of the robot arm  10 R and the robot arm  10 L. 
     The setting buttons  13 A and  13 B provide the operation signals in response to an operation by the operator or the like to the computing device  3 . The computing device  3  executes a process in response to the operation signal. The user operation for the setting buttons  13 A and  13 B is the setting operation of the setting position, which will be described below. In this case, the computing device  3  executes an identification process, which will be described below, by using the operation signal. 
     The massage device  1  includes a microphone  14 . The microphone  14  receives the input of the voice by the utterance of the user PT 1  lying on the bed  21  and transfers the voice data to the computing device  3 . As a result, the microphone  14  is disposed at a position in which the voice from the user PT 1  facing downward can be provided to the bed  21 . 
     The massage device  1  includes a speaker  15 . The speaker  15  outputs the voice based on the voice data transferred from the computing device  3  in response to the control signal from the computing device  3 . The speaker  15  is disposed at a position in which the voice can reach the user PT 1  facing downward on the bed  21 . 
     With reference to  FIG. 3 , the computing device  3  includes a processor  31  and a memory  32 . For example, the processor  31  is a central processing unit (CPU). The memory  32  includes a flash memory, an EEPROM, a ROM, a RAM, and the like. Alternatively, the memory  32  may be a primary storage device, or may be a secondary storage device. 
     The memory  32  stores the massage operation program  321  executed by the processor  31 . By executing the massage operation program  321 , the processor  31  executes an operation process for causing the massage device  1  to perform the pre-finishing massage (hereinafter, abbreviated as an operation process). 
     The computing device  3  includes a communication device  33  capable of communicating with another device such as the server  5  via the network  7 . Note that when the server  5  is mounted on the computing device  3 , the computing device  3  does not have to include the communication device  33 . 
     The operation process executed by the processor  31  includes an identification process  311 . The identification process  311  includes a process of identifying the setting position. The setting position is a position used for the massage operation in the massage device  1 , and includes the reference position depending on the physique of the user PT 1 . A setting method will be described below. 
     The operation process includes a mode switching process  312 . The mode switching process  312  includes switching between the massage mode and the setting mode. To switch between the massage mode and the setting mode, specifically, the processor  31  outputs, to the lock unit  12   a,  the control signal for performing the lock-on of the lock unit  12   a  of the movement device  12  in the massage mode and performing lock-off of the lock unit  12   a  of the movement device  12  in the setting mode. 
     The operation process includes an operation control process  313 . The operation control process  313  includes a process of causing the massage device  1  to perform the massage operation. In the operation control process  313 , the processor  31  outputs the control signal for moving the robot arm  10  to the movement device  12  and/or the joint  17  of the robot arm  10  in response to the program for causing the massage operation designated by the operation signal from the touch panel  13 , for example. Further, in the operation control process  313 , the processor  31  outputs the control signal for operating the massage hand  10   a  to the drive mechanism (not shown) of the massage hand  10   a.    
     The operation process includes a link process  314 . The link process  314  refers to a process of linking the pre-finishing massage by the massage device  1  and the finishing massage, which is subsequently performed, by the therapist PT 2 . The link process  314  includes an information generation process  315 . The information generation process  315  includes generation of the provision information to be provided to the therapist PT 2 . 
     The provision information includes the information indicating the treatment content of the pre-finishing massage. For example, the information indicating the treatment content of the pre-finishing massage includes information indicating a selected massage course, information indicating an actual operation time, and the like. By including these pieces of information indicating the treatment content of the pre-finishing massage in the provision information, in the finishing massage, the therapist PT 2  can perform the finishing massage based on the treatment content of the pre-finishing massage. 
     The provision information includes the information indicating the treatment effect of the pre-finishing massage. For example, the information indicating the treatment effect of the pre-finishing massage includes a value obtained by the sensors described above such as the pressure sensor or the rotation sensor during the massage operation, the information based on the voice data obtained by the microphone  14  during the massage operation, and the like. The information indicating the treatment effect is, specifically, the information indicating the state of the body of the user PT 1  after the treatment, for example, a portion in which stiffness is eliminated, a portion in which the stiffness remains, and the like. These pieces of information included in the provision information may be output as the map schematically showing the body of the user PT 1 . 
     By including the information indicating the treatment effect of the pre-finishing massage in the provision information, the therapist PT 2  can perform the finishing massage in the finishing massage based on the treatment effect of the pre-finishing massage. Note that a specific generation method will be described below. 
     The link process  314  includes an information output process  316 . The information output process  316  includes output of the provision information after the treatment of the pre-finishing massage. An output destination may be the terminal device  9  carried by the therapist PT 2 . As a result, the provision information is provided to the therapist PT 2 . 
     The output destination may be the server  5 . In this case, the processor  31  transfers the provision information to the communication device  33  to transmit the provision information to the server  5 . It is preferable that the processor  31  transmit the provision information in association with the identification information (e.g., a user identification (ID) of the user PT 1 ) to the server  5 . As a result, the server  5  can store the provision information in association with the user ID of the user PT 1 , as shown in  FIG. 3 . 
     The link process  314  includes a voice output process  317 . The voice output process  317  includes output of the voice for the dialogue with the user PT 1  from the speaker  15  during the period related to the treatment of the pre-finishing massage. The processor  31  executes the information generation process  315  in parallel with the voice output process  317 , and generates the provision information by using the voice data from the microphone  14 . That is, the processor  31  generates the provision information from the voice data obtained by the dialogue with the user PT 1  during the period related to the treatment of the pre-finishing massage. 
     The period related to the treatment of the pre-finishing massage is, as an example, a period during the treatment of the pre-finishing massage. As a result, the provision information is generated based on the dialogue with the user PT 1  during the treatment of the pre-finishing massage. In this case, the voice data indicative of the effect of the pre-finishing massage can be obtained. 
     The period related to the treatment of the pre-finishing massage may be, as another example, a period after the pre-finishing massage is terminated. As a result, the provision information is generated based on the dialogue with the user PT 1  after the treatment of the pre-finishing massage. In this case, the voice data indicating, for example, the effect of the pre-finishing massage or a desire for the finishing massage can be obtained. 
     The period related to the treatment of the pre-finishing massage may be, as another example, a period before the start of the pre-finishing massage. As a result, the provision information is generated based on the dialogue with the user PT 1  before the treatment of the pre-finishing massage. In this case, the voice data such as an expectation for the pre-finishing massage or a desire for the finishing massage can be obtained. 
     With reference to  FIG. 4 , a flow of the treatment of the massage with respect to the user PT 1  by using the system  100  will be described. A process of  FIG. 4  is started in a case in which the user PT 1  is guided to the first massage room R 1  of  FIG. 1  and is laid down on the bed  21 . The massage device  1  is disposed on the bed  21  in advance. 
     With reference to  FIG. 4 , when starting to at the start of use of the massage device  1 , setting of the position of the massage device  1  with respect to the user PT 1  is performed. An instruction for starting the use is provided to the computing device  3 , for example, by the operator pressing a start button displayed on the touch panel  13 . 
     The processor  31  of the computing device  3  switches the operation mode to the setting mode (step S 100 ). In step S 100 , the processor  31  outputs the control signals to the lock units  12   a  and  17   a  to perform the lock-off operation. 
     In the setting mode, the operator such as the therapist PT 2  guides the robot arm  10  by hand or the like to recognize the setting position. As an example, an example of setting reference positions P 1 , P 2 , and P 3  will be described with reference to  FIG. 2 . The reference positions P 1 , P 2 , and P 3  are a left shoulder, a right shoulder, and a center position of a waist of the user PT 1 , respectively. 
     With reference to  FIG. 2 , the operator guides the robot arm  10 R in the longitudinal direction of the bed  21  to a position in which the massage hand  10   a  reaches the reference position P 1 . As a result, the movement device  12  is moved in a direction indicated by arrow S. The operator places the massage hand  10   a  on the left shoulder of the user PT 1 , which is the reference position P 1 , and in that state, presses the setting button  13 A for providing an instruction for the setting of the reference position. Then, the operator places the massage hand  10   a  on the right shoulder of the user PT 1 , which is the reference position is P 2 , and in that state, presses the setting button  13 A for providing an instruction for the setting of the reference position. Finally, the operator places the massage hand  10   a  on the center position of the waist of the user PT 1 , which is the reference position is P 3 , and in that state, presses the setting button  13 A for providing an instruction for the setting of the reference position. 
     The processor  31  of the computing device  3  executes the identification process  311  by receiving the input of the operation signal of the setting button  13 A in the setting mode, and identifies corresponding positions of the massage hands  10   a  as the reference positions P 1  and P 2 , P 3 . 
     After the predetermined reference positions P 1 , P 2 , and P 3  are identified, the processor  31  identifies the physique of the user PT 1  based on the positions (step S 101 ). Specifically, with reference to  FIG. 2 , the processor  31  identifies an interval W between the reference positions P 1  and P 2  from the shoulder width of the user PT 1 . Further, the processor  31  identifies an interval H between a middle point of the reference positions P 1  and P 2  and the reference position P 3  as a length from the shoulder to the waist of the user PT 1 . The processor  31  stores in advance the intervals W and H with respect to the physique required for the massage, and uses the obtained intervals W and H to identify the physique of the user PT 1  required for the massage. 
     In another example, the setting position includes the specific position. The specific position refers to the position for designating the adjustment of the massage operation. The adjustment of the massage operation includes an adjustment of intensity, and an adjustment of the massage content. The content of the massage may include, for example, a massage position, a skill corresponding to the massage operation, or the like. The specific position includes, specifically, the focused treatment position such as the place with stiffness, or the treatment contraindication position such as the place in which the massage is not desired. The position is perceived by the operator by listening to the user PT 1  before the treatment, and is set in the massage device  1  by the setting of the position. 
     When a specific position P 4  is set, with reference to  FIG. 2 , the operator guides the robot arm  10 R in the longitudinal direction of the bed  21  to a position in which the massage hand  10   a  reaches the specific position P 4 . As a result, the movement device  12  is moved in the direction of the arrow S. The operator places the massage hand  10   a  on the site of the user PT 1 , which is the specific position P 4 , and in that state, presses the setting button  13 B for providing an instruction for the setting of the specific position. 
     The processor  31  of the computing device  3  executes the identification process  311  by receiving the input of the operation signal of the setting button  13 B in the setting mode, and identifies the position of the massage hands  10   a  in that case as the specific position P 4  (step S 103 ). 
     The setting of the position is not limited to the method described above. In another example, as shown in an enlarged view of a part B of  FIG. 5 , the massage system may include a reading device such as a camera  13 C or the like at a side of the robot arm  10 R facing the user PT 1  to read markers M 1  to M 4  installed on an upper surface of the user PT 1 . Also, in another example, the camera  13 C may be provided on the other robot arm  10 L, or may be provided on each of the robot arm  10 R and the robot arm  10 L. In this case, by installing the markers M 1 , M 2 , and M 3  indicating the reference positions P 1 , P 2 , and P 3  at the left shoulder, the right shoulder, respectively, and the center position of the waist of the user PT 1 , the processor  31  can identify the physique of the user PT 1 . In addition, by installing the marker M 4  indicating the specific position P 4  at a position to be the specific position P 4 , the processor  31  can identify the specific position P 4 . 
     Note that in this example, the setting of the position is performed by using one robot arm  10 R of the two robot arms  10 R and  10 L. In this case, the position of each of a plurality of the robot arms in the massage operation is set by the position set by using one robot arm  10 . Note that, in another example, the setting of the position may be performed by using all of the robot arms. 
     Since the massage device  1  is a movable type whose position is not fixed with respect to the bed  21 , when the massage device  1  is moved to the vicinity of the bed  21 , there is a possibility that the position with respect to the bed  21 , that is, the position with respect to the user PT 1  is not an appropriate position with respect to the treatment position. However, by performing the setting of the position as described above, the massage hand  10   a  can be appropriately moved to the treatment position in the subsequent massage operation. That is, even when the movable type massage device  1  is used with respect to the bed  21 , a positional relationship with the user PT 1  can be a suitable positional relationship. As a result, an effective massage can be performed with respect to the user PT 1 . 
     When the setting of the position described above is terminated, the processor  31  switches the operation mode to the massage mode (step S 105 ). In this mode, the processor  31  applies the physique of the user PT 1  identified in step S 101  and the specific position identified in step S 103  to the massage operation program. The application includes setting of the position of the massage in response to the program to the position depending on the user PT 1 , setting of the massage intensity or the massage content at the specific position depending on the user PT 1 , and the like. 
     Then, the processor  31  starts the massage operation (step S 106 ). As a result, the massage device  1  performs the programmed massage operation, and the treatment of the programmed pre-finishing massage is performed with respect to the user PT 1 . Therefore, high quality treatment is performed regardless of the skill of the masseur. Further, by performing the massage operation depending on the positions set in steps S 101  and S 103 , the treatment of the pre-finishing massage suitable for the user PT 1  is performed. 
     During the massage operation, the processor  31  outputs the voice for the dialogue from the speaker  15  at predetermined timing (step S 107 ), and receives the input of the voice data from the microphone  14  (step S 109 ). In an example, the voice for the dialogue output in step S 107  is output when the massage operation is terminated. In this case, as the voice for the dialogue output in step S 107 , a question about the treatment effect such as “Did you get rid of tiredness?” is presented. The voice data input in step S 109  in this case is an answer to the above question, and is a voice such as “yes” or “no” indicating the treatment effect. 
     Note that as another example, the voice for the dialogue output in step S 107  is output during the massage operation. In this case, a question about an impression or a request during treatment such as “Does it hurt?” is presented. The voice data input in step S 109  in this case is an answer to the above question, and is a voice such as “yes” or “please massage more strongly” indicating the impression or the request. 
     Note that the processor  31  may output the voice for the dialogue in the same manner even after the massage operation is terminated, and receive the input of the voice data from the microphone  14 . In this case, as the output voice for the dialogue, a question of the request for the finish massage, such as “Where do you want the finishing massage?” is presented. The voice data input in this case is an answer to the above question and is a voice such as “right shoulder”, “left arm”, or the like indicating the request for the finishing massage. 
     Based on the voice data input as described above, the processor  31  executes the information generation process  315  to generate the provision information (step S 111 ). As an example, in the information generation process  315 , the processor  31  includes a learning model  51 , and obtains the provision information by inputting the obtained voice data to the learning model  51 . 
     The learning model  51  is a machine-learning model as shown in  FIG. 6 . That is, with reference to  FIG. 6 , the learning model  51  is machine-learned by using, as a supervised model, a combination of a plurality of data in which the voice data is the input data and the information related to the finishing massage is the output data. For example, the learning model  51  is learned by using the voice data of “yes” with respect to the specific question of “Did you get rid of tiredness?” as the input data, and data indicating that “set time for finishing massage to be normal” as the output data. In addition, the learning model  51  is learned by using the voice data of “no” as the input data, and data indicating that “extend time for finishing massage” as the output data. In addition, the learning model  51  is learned by using the voice data of the “right shoulder” with respect to “Where do you want the finishing massage?” as the input data, and data indicating an instruction of “focus on the right shoulder” as the output data. Further, the learning model  51  is learned by using the voice data of the “upper left” as the input data, and the data indicating the instruction of “focus on the upper left” as the output data. 
     The training of the machine learning model  51  is not limited to the learning by using the voice data as the teacher model. Alternatively, the learning model  51  may perform the learning in which another data is used as supervisory data in addition to the voice data. In another example, the learning model  51  may be learned by using a history (for example, operation history) of the massage position or the massage time in the massage device  1  as the input data, and the massage position or the massage time in the subsequent finishing massage as the output data. Further, as another example, the learning model  51  may be machine-learned by using the focused treatment position or the treatment contraindication position, which is the setting position, as the input data, and the massage position or the massage time in the subsequent finishing massage as the output data. Note that the input data and the output data may be map data schematically showing the body of the user. 
     By using such a learning model  51 , in step S 111 , the processor  31  can easily obtain the provision information output from the learning model  51  by inputting the voice data to the learning model  51 . 
     Note that as another example, the processor  31  may store the provision information corresponding to the voice data in advance and output the provision information corresponding to the input voice data. For example, the processor  31  may store the provision information corresponding to a specific term in advance, perform a voice analysis on the input voice data, and read out the provision information corresponding to the obtained term. 
     Further, the processor  31  may change the parameters of the massage operation program so as to perform the massage operation in response to the request based on the input voice data. As a result, the user PT 1  can receive a suitable massage as a case in which the user PT 1  receives the massage while performing the dialogue with the massager. 
     After a series of the massage operations is terminated (step S 113 ), the processor  31  outputs the provision information generated in step S 111  (step S 115 ). When the pre-finishing massage is terminated, the user PT 1  is guided to the second massage room R 2  in  FIG. 1 . The user PT 1  waits for the finishing massage by the therapist PT 2  while lying down on the bed  22 . 
     The output in step S 115  causes, for example, the communication device  33  to transmit the provision information to the terminal device  9  carried by the therapist PT 2 , the server  5  accessible by the terminal device  9 , or the like. As a result, the provision information is provided to the therapist PT 2  who performs the finishing massage on the user PT 1  in the second massage room R 2 . 
     The provision information is information for performing the finishing massage linked to the pre-finishing massage, such as “the massage time is short” shown in  FIG. 4 . As a result, the therapist PT 2  can perform the finishing massage after the pre-finishing massage. That is, in the system  100 , the massage device  1  performs the pre-finishing massage, and thereby alleviate thus the burden on the therapist PT 2 . In addition, the massage service can be efficiently provided with a fewer number of the therapists PT 2 . 
     As a result, as shown in  FIG. 1 , the pre-finishing massage and the finishing massage can be performed with respect to the user PT 1  in different locations by using the system  100 . In such a case, the therapist PT 2  who performs the finishing massage may not perceive the state of the user PT 1  during the pre-finishing massage or after the pre-finishing massage. Even in such a case, by providing the provision information based on the voice data in that case, the finishing massage linked to the pre-finishing massage can be performed. 
     Also, since the provision information is stored in the server  5  in association with the identification information of the user PT 1 , the provision information can be used as medical record information related to the massage. Specifically, by storing the provision information together with the content of the pre-finishing massage for each user PT 1 , it can be used as a reference data in a case of the next treatment. 
     Note that the provision information may be provided to the user PT 1 . In that case, the massage device  1  may further include an output device for the user PT 1 . The output device for the user PT 1  is, for example, a display installed at a position that is easy to see from the user PT 1  who lies down on the bed  21 . Alternatively, the provision information provided to the user PT 1  may be output by the voice from the speaker  15 . In this case, for example, the provision information may be output in a dialogue type. As a result, the user PT 1  can also recognize the information for the finishing massage. 
     Furthermore, the provision information provided to the user PT 1  may be different from the provision information provided to the therapist PT 2 . In this case, the processor  31  generates the provision information provided to the user PT 1  together with the provision information provided to the therapist PT 2  in step S 111 . The provision information provided to the user PT 1  may have a different expression from the provision information provided to the therapist PT 2 , or may have an additional description. As a result, the information useful for both the user PT 1  and the therapist PT 2  can be provided. 
     3. Supplementary Note 
     It should be understood that the invention is not limited to the above-described embodiment, but may be modified into various forms on the basis of the spirit of the invention. Additionally, the modifications are included in the scope of the invention.