Patent Publication Number: US-10758450-B2

Title: Motion-based control for a personal massager

Description:
CROSS-REFERENCE To RELATED APPLICATIONS 
     This application claims the benefit of U.S. patent application Ser. No. 13/492,909, filed Jun. 10, 2012, which claims the benefit of Provisional patent application Ser. No. 61/504,943, filed Jul. 6, 2011. The content of these applications is hereby incorporated by reference in its entirety for all purposes. 
    
    
     BACKGROUND 
     The present invention relates generally to personal massagers, and more particularly to motion-based control for a personal massage apparatus. 
     Personal massagers can be operated in a number of manners. Some personal massagers include a user interface on the surface or handle of the massager itself. Others include an interface separate from the massager that allows the user to control the massager. The user can interact with whatever interface is included with the personal massager to turn the massager on or off, adjust the speed or vibration of the massager, or otherwise change settings of the massager during use. Having a convenient mechanism for controlling the personal massager makes it more likely that the user will enjoy the massager and be able to easily operate it. 
     Massagers having multiple buttons with which to interact, however, can be inconvenient and difficult for the user to manipulate while using the massager. A user distracted during use of the massager can accidentally select the wrong button and inadvertently turn the device on or off, or change a setting the user did not intend to change. For personal massagers that include a user interface on the surface or handle of the massager itself, if the interface of the massager is leaned against or otherwise under pressure, the settings on the massager can be changed without the user even intending to change them. In addition, it can be difficult to manipulate the handle of the massager while also selecting different user controls sitting on that same handle. For personal massagers that include a user interface separate from the massager, it can still be a challenge to select the correct buttons and modify the settings as desired while the massager is in use. The user still has to direct a substantial amount of focus to selecting the right button to adjust the right setting, drawing the user&#39;s attention away from simply enjoying the massager. Furthermore, the separate interface may be connected to the massager via wires that are inconvenient during usage of the massager. Thus, while designers of personal massagers have come up with a number of different types of interfaces for their massagers, these designs have certain drawbacks. 
     SUMMARY 
     Embodiments include an apparatus and method for motion-based control of a personal massager. In one embodiment, a motion-based personal massage apparatus includes a personal massager and a controller having an interface to the massager. The massager has a motor and at least one surface for interacting with a body. The controller has a motion sensor for detecting motion of the controller. Circuitry in the controller or the massager converts the detected motion of the controller into a control signal for the motor in the massager to adjust operation of the massager based on the detected motion of the controller. As one example, the user can hold the controller and move it around or change the orientation of the controller, and these movements are sensed by the sensor. Different movements or orientations of the controller can be associated with different settings for the massager. Thus, the user can move the controller in a particular manner or change to a particular orientation, and this motion will result in changing the setting of the massager. Rather than manipulating buttons on an interface associated with the massager, the user can choose to ignore any such buttons or other controls and instead move the remote controller to control the operation of the massager. 
     Another embodiment is a motion-based controller for a personal massager. The motion-based controller includes a control module for controlling the controller and includes a motion sensor in communication with the control module for detecting motion of the controller. The controller also includes an interface to the massager for sending signals to the massager regarding motion of the controller detected by a motion sensor, wherein adjustments are made in operation of the massager based on the detected motion of the controller. 
     A further embodiment is a motion-controlled personal massager. The massager includes a motor for moving the massager to interact with a body and includes a control module in communication with the motor for controlling operation of the massager. The massager may also include an interface to a controller for receiving signals from the controller regarding motion of the controller detected by a motion sensor. The control module of the massager may be configured to implement adjustments in the operation of the massager based on the detected motion. 
     Another embodiment is a motion-controlled personal massager that can be operated without a remote controller. The massager includes a motor for moving the massager to interact with a body and includes a control module in communication with the motor for controlling operation of the massager. The massager further includes a motion sensor for detecting motion of the massager. Circuitry in the massager converts the detected motion into a control signal for the motor in the massager to adjust operation of the massager based on the detected motion of the massager. Thus, in this embodiment, the apparatus does not have to include a remote controller (or such a controller can be included but used only when the user so desires). Instead, the user can control the operation of the massager by moving of the massager itself, and this motion is sensed by the motion sensor of the massager and translated to different operation settings of the massager. 
     An additional embodiment is a method for motion-based control of a personal massager. The method includes steps of detecting motion of a motion sensor in the massager or in a controller that is in communication with the massager and determining an adjustment to be made to operation of the massager or the controller based on the motion of the massager or the controller that was detected. The method further includes a step of converting the detected motion of the massager or the controller into a control signal for the massager or controller that adjusts the operation of the massager or controller in response to the detected motion of the massager or the controller. For example, the motion can be detected by a motion sensor in the controller, which determines the adjustment to the operation of the massager and which is converted into a control signal for the massager to adjust the massager operation. As another example, the motion can be detected by a motion sensor in the massager, which determines the adjustment to the operation of the massager and which is converted into a control signal for the massager to adjust the massager operation. As a further example, the motion can be detected by a motion sensor in the controller, which determines the adjustment to the operation of the controller and which is converted into a control signal for the controller to adjust the controller operation. 
     The features and advantages described in this summary and the following detailed description are not all-inclusive. Many additional features and advantages will be apparent to one of ordinary skill in the art in view of the drawings, specification, and claims hereof. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1A  is a diagram illustrating components of a motion-based personal massage apparatus including a motion-based controller and a motion-controlled personal massager, in accordance with an embodiment of the invention. 
         FIG. 1B  is a diagram illustrating components of a motion-based personal massager, in accordance with an embodiment of the invention. 
         FIG. 1C  is a diagram illustrating components of a networked motion-based personal massager, in accordance with an embodiment of the invention. 
         FIGS. 2A, 2B, and 2C  are diagrams illustrating a tilt orientation algorithm for use with a motion-based controller and/or motion-controlled personal massager, in accordance with an embodiment of the invention. 
         FIG. 3A  is a front view of a motion-based controller and  FIG. 3B  is a perspective view of the motion-based controller, in accordance with embodiments of the invention. 
         FIG. 4A  is a massage apparatus including a perspective view of a motion-based controller and a front view of a motion-controlled personal massager and  FIG. 4B  is a side view of the motion-controlled personal massager, in accordance with embodiments of the invention. 
         FIG. 5A  is a side view of a motion-controlled personal massager and  FIG. 5B  is a perspective view of the motion-controlled personal massager, in accordance with an embodiments of the invention. 
         FIG. 6A  is a front view of a motion-controlled personal massager and  FIG. 6B  is a side view of the motion-controlled personal massager, in accordance with embodiment of the invention. 
         FIG. 7  is a diagram illustrating components of a massage apparatus including a two-way motion-based controller and a two-way motion-controlled personal massager, in accordance with an embodiment of the invention. 
         FIG. 8A  is a flow chart illustrating the steps performed for motion-based control of a personal massager, in accordance with an embodiment of the invention. 
         FIG. 8B  is a flow chart illustrating the steps performed for motion-based control of a personal massager without a remote controller, in accordance with an embodiment of the invention. 
         FIG. 9  is a flow chart illustrating the steps performed for determining an adjustment to the operation of a personal massager based on controller or massager orientation, in accordance with an embodiment of the invention. 
     
    
    
     The figures depict various embodiments of the present invention for purposes of illustration only. One skilled in the art will readily recognize from the following discussion that alternative embodiments of the structures and methods illustrated herein may be employed without departing from the principles of the invention described herein. 
     DETAILED DESCRIPTION 
     Massage Apparatus 
     Referring first to  FIG. 1A , there is shown a diagram illustrating the components of a motion-based personal massage apparatus  100  including a motion-based controller  102  and a motion-controlled personal massager  104 , in accordance with an embodiment of the invention. In the embodiment of  FIG. 1A , the motion-based controller  102  includes a motor  106 , a control module  108 , an interface  110 , and a motion sensor  112 . Also in the embodiment of  FIG. 1A , the motion-controlled personal massager  104  includes a motor  156 , a control module  158 , and an interface  160 . 
     The motion sensor  112  of the motion-based controller  102  is designed to detect motion of the controller  102 . A variety of different motion sensors  112  can be used. In one embodiment, the motion sensor is an accelerometer that senses the acceleration of the controller  102 . For example, the motion sensor  112  can be a three-axis accelerometer that determines an orientation of the controller in three dimensions, including an X, Y, and Z axis. The sensor  112  can be a capacitive MEMS sensor, a low g inter-integrated circuit (I2C) digital acceleration sensor (e.g., acceleration sensor MMA7660FC by FREESCALE™ SEMICONDUCTOR), or another type of sensor for detecting motion of a device. In one embodiment, the motion sensor  112  is an accelerometer that detects at least six different orientation positions of the controller  102  that correspond to different adjustments in the operation of the massager  104 . For example, the sensor can detect orientation positions that include left, right, up, down, back, and front. Each orientation position can correspond to a different setting or control for the massager  104 , though in some cases, more than one position can correspond to the same massager setting. In other embodiments, only a few positions corresponding to different settings are used for simpler operation of the apparatus  100 . In further embodiments, the sensor  112  is designed to detect shaking or tapping of the controller  102  or other types of controller motion, and these movements can be used to control different settings on the massager  104 . For example, a user could tap the controller  102  to change the settings or could tap the controller  102  a certain number of times or in certain locations for different settings. Similarly, the user could shake the controller  102  in different directions to change between settings. 
     In the embodiment of  FIG. 1A , the controller  102  and the massager  104  both include motors  106 ,  156  for operation of the devices. The motor  106  in the controller  102  can be used to operate different aspects of the controller  102 . The massager  104  includes at least one surface that contacts the body (e.g., a human body) or a portion of the body to provide the massage. The motor  156  in the massager  104  generates the motion of the massager  104 . The motor  156  can vibrate or otherwise move the massager  104  in a variety of manners. In some embodiments, various vibration patterns or tempos can be created by the motor  156 . The motor  156  can move the massager  104  more slowly or more rapidly depending on the setting. In some embodiments, the massager  104  can include more than one motor for operating different portions of the massager  104 . In further embodiments, rather than having a motor (or in addition to the motor), the controller and/or massager have vibrator, electromechanical device, or other mechanism for moving the controller/massager. 
     In some embodiments, the controller  102  can, itself, be a personal massager and provide massage to the body. In these embodiments, the controller  102  can include at least one surface that contacts the body (e.g., a human body) or a portion of the body to provide the massage. The motor  106  in the controller  102  generates the massage motion of the controller  102 . The motor  106  can vibrate or otherwise move the controller  102  in a variety of manners, including creating various vibration patterns or tempos. The motor  106  can move the controller  102  more slowly or more rapidly depending on the setting. In some embodiments, the controller  102  can include more than one motor for operating different portions of the controller  102 . In further embodiments, both the controller  102  and the massager  104  can be used as personal massagers simultaneously, or the user can rotate between using the controller  102  or massager  104  as a personal massager. Since the controller  102  has a motion sensor  112 , the motion sensor can detect motion of the controller  102  and adjust the massage settings of the controller  102  based on this motion. 
     The controller  102  and massager  104  also include interfaces  110  and  160  that permit the controller  102  and the massager  104  to interact or communicate. Using interface  110 , the controller  102  can send control signals or instructions to the massager  104  regarding what setting to implement in the massager  104 . For example, the control signals can indicate that the massager  104  should turn on or off, increase or decrease speed, switch to a different vibration pattern, switch to a particular pattern desired by the user, turn on one motor and off another motor, switch between operation of two different motors or different areas of the massager  104 , among other instructions. In other embodiments, the massager  104  determines what settings correspond with the motion detected, and the control signals sent by the controller  102  simply provide data regarding the motion detected. In these embodiments, the massager  104  implements an algorithm or otherwise determines how the massager operation should be adjusted. 
     The interfaces  110  and  160  can be wired or wireless interfaces, such as wireless transceivers that transmit and/or receive control signals between the devices. In some embodiments, the interfaces  110 ,  160  are radio-frequency (RF) transceivers for transmitting/receiving RF signals between the devices. One example of an RF transceiver that could be used is a low power 2.4 GHz RF transceiver (e.g., transceiver CC2500 by TEXAS INSTRUMENTS®). In these embodiments, the controller  102  and/or massager  104  may also include antennas for transmitting/receiving signals. In other embodiments, the interfaces  110 ,  160  use other technology for transmitting/receiving signals between the two devices. For example, the interfaces  110 ,  160  can use BLUETOOTH®, WiFi, infrared, laser light, visible light, acoustic energy, among a variety of other ways to transmit information wirelessly between the controller  102  and the massager  104 . 
     In some embodiments, the controller  102  and/or the massager  104  are connected to a network via a personal computer or a telephone, or are directly connected to a wireless router or a cellular phone network.  FIG. 1C  illustrates one example of such a design. Thus, the massage apparatus  100  can be controlled via personal computer, phone, etc. by the user with whom the apparatus  100  is in contact or by another user using the personal computer, phone, etc. 
     In the embodiment of  FIG. 1A , both the controller  102  and the massager  104  include a control module  108 ,  158  that controls the operation of the devices. The control module  108  of the controller  102  can control or communicate with the other components of the controller  102 , including controlling the function of the motor  106 , controlling or communicating with the motion sensor  112  (e.g., receiving information about motion sensed by the motion sensor  112 ), and controlling the interface  110 . Similarly, the control module  108  of the massager  104  can control or communicate with the other components of the massager  104 , including controlling the function of the motor  156  and controlling the interface  160 . In some embodiments, the control module  108  of the controller  102  manages the conversion of the motion sensed by the motion sensor  112  into instructions regarding a particular adjustment to the operation of the massager  104 . However, this conversion can also be performed by the control module  158  of the massager  104 . Similarly, the control module  158  of the massager  104  can implement the instructions and adjust function of the motor  156  to provide the designated adjustment in operation of the massager  104 . In embodiments in which the controller  102  can also act as a massager, the control module  108  can further control function of the motor  106  including determining its speed, etc., without being dependent on another controller. 
     Circuitry in the controller  102  and/or the massager  104  converts the motion of the controller  102  detected by the motion sensor  112  into a control signal for the motor  156  in the massager  104 . In this manner, the apparatus  100  can cause an adjustment in the operation of the massager  104  based on the detected motion of the controller  102 . In embodiments in which the controller  102  also acts as a massager, circuitry in the controller  102  converts the motion of the controller  102  detected by the motion sensor  112  into a control signal for motor  106  in the controller. Thus, the apparatus  100  can also cause an adjustment in the operation of the controller  102  based on the detected motion of the controller. 
     The controller  102  can be designed to be a handheld device that the user using the massage apparatus  100 , or another user, can hold and manipulate to control the motion of the massager  104 . In one embodiment, the operation of the massager  104  is adjustable by a user manually tilting the controller  102  in different directions to change an orientation of the controller  102 . This tilting of the controller  102  can, for example, increase or decrease motor power of the massager, change at least one setting of the massager, etc. For example, tilting in one direction could turn the massager  104  on and tilting the opposite way could turn it off. Similarly, tilting the device to the front or back could result in different vibration settings being activated in the massager  104 . In addition, tilting at different angles in various directions could modify various settings. Furthermore, shaking the controller  102  in a particular manner or tapping it in particular locations could result in further changes to the settings of the massager  104 . These various changes in settings can occur automatically, without requiring user interaction with or manipulation of the massager  104 . Thus, the user can adjust the settings of the massager  104  to his preferences while using the massager  104  by simply moving around the controller in different ways. Rather than manipulating buttons on an interface associated with the massager, the user can choose to ignore this interface and instead move the remote controller  102  to control and change settings of the massager  104 , as desired. 
       FIG. 1B  is a diagram illustrating components of a motion-based personal massager  184  of a massage apparatus  180 , in accordance with an embodiment of the invention. In the embodiment of  FIG. 1B , the motion-controlled personal massager  184  includes a motor  186 , a control module  188 , and a motion sensor  182 . In this embodiment, the massager  184  can operate without a controller, such as controller  102 , since the massager  184  includes its own motion sensor  182  that is designed to detect motion of the massager  184 . Any of the motion sensors described above regarding  FIG. 1A  can be used as motion sensor  182 , and can detect motion in the same general manner. The massager  184  can have the same general design as massager  104 . In massager  184 , the motor  186  can operate similarly to motor  156 , as described above. Similarly, control module  188  can operate similarly to control module  158  as described above. However, in the  FIG. 1B  embodiment, circuitry in the massager  184  converts the motion of the massager  184  (detected by motion sensor  182 ) into a control signal for the motor  186  in the massager  184 . In this manner, the operation of the massager  184  can be adjusted based on the detected motion of the massager  184 , itself, rather than detected motion of a controller. The control module  188  manages the conversion of the motion sensed by the motion sensor  182  into instructions regarding a particular adjustment to the operation of the massager  184 . In some embodiments, massager  184  does include a controller, such as controller  102 , which can be optionally used with the apparatus  180 . 
     In some embodiments, the user holds the massager  184  in his or her hand and moves the massager around to control operation of the massager. In other embodiments, the massager  184  can be moved around by the user&#39;s body. For example, if the massager  184  is resting on or pinned between parts of the user&#39;s body (or between parts of two users&#39; bodies), the user (or users) can move his body (their bodies) in order to adjust the orientation of the massager, thereby changing the settings of the massager, as desired. Similarly, a user other than the user who is receiving the massage can move the massager in order to control operation of the massager. 
       FIG. 1C  is a diagram illustrating components of a networked motion-based personal massager  194  of a massage apparatus  190 , in accordance with an embodiment of the invention. In the embodiment of  FIG. 1C , the motion-controlled personal massager  194  includes a motor  196 , a control module  198 , a motion sensor  192 , and a network interface  199 . As explained above, the massager  194  can be connected to a network via a personal computer or a telephone, or can be directly connected to a wireless router or a cellular phone network. Thus, the massage apparatus  190  can be controlled via personal computer, phone, etc., by the user with whom the apparatus  100  is in contact or by another user using the personal computer, phone, etc. The massager  194  can include a controller, such as controller  102 , or can be operated without a controller. The interface  199  can be wired or wireless, including any of the interfaces described above regarding  FIG. 1A . The massager  194  can operate in generally the same manner as massagers  104  and  184 . In this case, since the massager  194  includes its own motion sensor  192 , it can operate as described regarding massager  184 , including detecting its own motion and translating this into control signals that control the settings of the massager  194 . 
       FIGS. 2A, 2B, and 2C  are diagrams illustrating a tilt orientation algorithm for use with a motion-based controller and/or massager, in accordance with an embodiment of the invention.  FIG. 2A  illustrates controller/massager orientations and directions for each axis (X, Y, and Z axes) in composite.  FIGS. 2B and 2C  provide an example of how the orientation of the controller/massager can be determined along at least two axes. For example, one or both of the control modules  108 ,  158  can read the X value and Y value from the motion sensor  112  of the controller  102 . Similarly, the control modules  188 ,  198  of the massagers  184 ,  194 , respectively, can read the X value and Y value from motion sensors  182 ,  192 . One or both of the modules  108 ,  158  or the modules  188 ,  198  can apply the tilt orientation algorithm to determine a value for the orientation of the controller/massager. As one example, one or both of the modules  108 ,  158  or modules  188 ,  198  can calculate a value for (X 2 +Y 2 ), since, for a right triangle, Z 2 =X 2 +Y 2 . A filter, such as a digital filter, can be used to remove or wipe out noise from the vibration of the motor  106  of the controller  102  or the motors of the massagers. One or both of the modules  108 ,  158  or modules  188 ,  198  can further correlate the value calculated with an adjustment to be made in the operation of the massager  104 .  FIG. 2C  shows an example in which angles of 15 degrees or 30 degrees have been determined. These angles can be correlated with a list of values for output motor power of the massager  104  associated with each value. For example, the list provide below could be used:
     15°: Output motor power=5   30°: Output motor power=7   45°: Output motor power=9   60°: Output motor power=11   75°: Output motor power=13   90°: Output motor power=15   

     Where an angle of 15 degrees has been determined, this correlates with an output motor power of 5 in the above example. Thus, the controller  102  can provide a control signal to the massager  104  indicating that the motor  156  should implement an output motor power of 5 (or this comparison can be performed on the massager  104 ). Where no controller  102  is included, the massager itself provides the control signal for its own motor. Where a 30-degree angle is detected, an output motor power of 7 is implemented. Similarly, the different angles can correlate with other information or settings, such as turning the massager  104  on or off, particular vibration settings or patterns, different vibration speeds, different parts of the massager  104  vibrating, etc. 
       FIG. 2  illustrates just one example of an algorithm that can be used with the motion-based controller/massager. Other algorithms can also be used or can be used in combination with the  FIG. 2  algorithm, including algorithms that are not orientation-based, but instead are directed to other types of motion of the controller/massager. The above example illustrates some angles and values for the resultant adjustment to the massager operation, but other angles and values can be used, as well. Similarly, different angles can correlate with more than one change or setting for the massager  104 . 
       FIG. 3A  is a front view of a motion-based controller and  FIG. 3B  is a perspective view of the motion-based controller, in accordance with embodiments of the invention. In these embodiments, the motion based controller  102  includes an increase button  302  and a decrease button  304  for increasing or decreasing settings of the massager  104  remotely, and an adjustment button  306  for adjusting settings of the massager, such as turning it on or off. One or more of these buttons  302 ,  304 ,  306  can be included on the controller  102  if desired, to provide the user with the option to use buttons for some forms of control of the massager. The controller  102  is shown as a palm-sized disk that can easily rest in a user&#39;s hand. However, other designs, shapes, and sizes can also be used. In addition, at least one surface of the controller  102  can be put into contact with the body to provide massage, where the controller  102  also operates as a massager. 
       FIG. 4A  is an example of a massage apparatus  100  including an perspective view of a motion-based controller  102  and a front view of a motion-controlled personal massager  404 , in accordance with an embodiment of the invention.  FIG. 4B  shows a side view of the motion-controlled personal massager  404  of  FIG. 4A , in accordance with and embodiment of the invention. The massager can have any of the designs of massagers  104 ,  184 , or  194 . These figures provide one example of a shape for the motion-controlled personal massager  404 . In this case, the massager  404  has an egg-like shape, and one or more of the surfaces of the massager  404  can be placed into contact with a user&#39;s body to provide vibration to that area. For example, the user can hold the front portion of the massager  404  shown in  FIG. 4A  and shown to the right in  FIG. 4B  that is curved for easy grasping. The ridge at the left side of  FIG. 4B  can be placed into contact with the body to provide the vibration or massage. 
       FIGS. 5 and 6  include additional examples of shapes for the massager. The massagers can have any of the designs of massagers  104 ,  184 , or  194 .  FIG. 5A  is a side view of a motion-controlled personal massager  504  and  FIG. 5B  is a perspective view of the motion-controlled personal massager  504 , in accordance with an embodiments of the invention.  FIG. 6A  is a front view of a motion-controlled personal massager  604  and  FIG. 6B  is a side view of the motion-controlled personal massager  604 , in accordance with embodiment of the invention. Both the  FIGS. 5 and 6  designs of the massager  504 ,  604  are designed to be placed into contact with the body at one or more areas of the body or to be worn on the body, providing massage to one or more areas of the body. For example, the massager of  FIGS. 5A and 5B  may be worn by a female user with one of the elongate arms placed inside a vagina and another arm placed next to a clitoris, where the connecting portion therebetween allows for vaginal intercourse while the massager is being worn. Similarly, the massager of  FIGS. 6A and 6B  may be worn with the loop portion around a penis during vaginal intercourse, where the elongate arm is next to a clitoris. 
       FIG. 7  is a diagram illustrating the components of a massage apparatus  700  including a two-way motion-based controller  702  and a two-way motion-controlled personal massager  704 , in accordance with an embodiment of the invention. In the embodiment of  FIG. 7 , the motion-based controller  702  includes a motor  706 , a control module  708 , an interface  710 , and a motion sensor  712 . Also in the embodiment of  FIG. 7 , the motion-controlled personal massager  704  includes a motor  756 , a control module  758 , and an interface  760 . These components of the controller  702  and the massager  704  generally operate in the same manner as the components having corresponding names in the  FIG. 1A  embodiment of massage apparatus  100 . In addition, in the  FIG. 7  embodiment, the massager  704  includes a second motor or a vibrator or an electromechanical device  757  (similarly, any of the motors described throughout can alternatively be a vibrator, an electromechanical device, or other device for causing motion). Where this device  757  is a second motor, the second motor  757  can operate in the same or different manner as motor  756 . In some embodiments, the second motor  757  can operate different components of the massager  704  or can operate in response to different feedback or motions of the controller  702 , and so forth. The tilt orientation algorithm of  FIG. 2  can be used with the massage apparatus  700 . In addition, the apparatus  700  can employ any of the designs of  FIGS. 3-6  or other designs. Furthermore, the massager  704  can be used with controller  102  of  FIG. 1A , or the controller  702  can be used with massager  104  of  FIG. 1A . In addition, the massagers  184  or  194  of  FIGS. 1B and 1C , respectively, can be used instead of massager  704  and/or can be designed to include the additional components of massager  704  that are not shown in massagers  184  or  194  (e.g., device  757 , sensor(s)/monitor(s)  766 , etc.). 
     In the  FIG. 7  embodiment, the two-way motion-based controller  702  further includes one or more sensors or monitors  716  that detect or monitor one or more parameters associated with the body that is physically contacting the controller  702 . In addition, the two-way motion-controlled personal massager  704  also includes one or more sensors or monitors  766  that detect or monitor one or more parameters associated with the body that is physically contacting the massager  704 . For example, the sensor(s)/monitor(s) can be temperature sensors, heart rate sensors, motion sensors, touch sensors, pressure sensors, etc. Such sensor(s)/monitor(s) can be included in one of or both of the controller  702  and the massager  704 . Similarly, different sensor(s)/monitor(s) can be included in the controller  703  versus the massager  704 . For example, either the controller  702  or massager  704  can include a heart rate monitor that monitors the heart rate of the user that is currently contacting the controller  702  or massager  704 . The apparatus  100  can be configured such that the controller  702  will automatically respond to the detected heart rate by sending data regarding the specific adjustment in operation that the massager  704  should implement for that heart rate detected. For example, the control module  708  of the controller  704  can send a control signal to the massager based on the detected heart rate, and the control module  758  of the massager  704  can cause one or both of the motors  756 ,  767  to operate in the manner specified in the control signal. As the heart rate changes, the massager  704  can change operation, including speeding up or slowing down, changing vibration patterns, etc. In a similar manner, as the temperature of the user changes, this can be detected by sensor(s)/monitor(s)  716  or  766 , resulting in changes in operation of the massager  704  or controller  702 . In addition, as the controller  702  or massager  704  is moved, touched, or put under certain pressure, the massager settings can be adjusted to correspond with this information collected from the user. In some embodiments, one or both of the controller  702  and massager  704  do not include motion sensors, but operate only via sensing of changes in body temperature, heart rate, and other bodily changes. 
     In some embodiments of the two-way massager apparatus  700  of  FIG. 7 , the controller  702  and massager  704  can be used to provide massage between two users. In this case, both devices  702 ,  704  can operate as massagers since both include at least one motor. In some embodiments, both devices  702 ,  704  include a motion sensor via which motion of the devices  702 ,  704  can be detected. For example, the massager  704  can include a motion sensor (see, e.g., the design of  FIG. 1B ) that can be used to detect motion of the massager  704  to control operation of the massager  704 . Similarly, the controller  702  can include a motion sensor  712 , as shown, to detect motion of the controller  702  to control operation of the controller  702 . Furthermore, in other embodiments, both devices  702 ,  704  can act as controllers for controlling the other device. For example, the massager  704  can include the components of the controller  702  that allow it to act as a remote controller. In this manner, the massager  704  can act as a remote controller for the controller  702 . Thus, a user using the massager  704  to receive a massage can control his massager&#39;s settings and/or can control settings of the massage being given to another user by vibration of the controller  702 . Similarly, a user using the controller  702  to receive a massage can control his massager&#39;s settings and/or can control the settings of the massage being given to another user by vibration of the massager  704 . Different settings can be used to determine which device controls which other device. 
     Methods of Motion-Based Control 
     Referring now to  FIG. 8A , there is shown a flow chart illustrating the steps performed for motion-based control of a personal massager, in accordance with an embodiment of the invention. It should be understood that these steps are illustrative only. Different embodiments may perform the illustrated steps in different orders, omit certain steps, and/or perform additional steps not shown in  FIG. 8A  (the same is true for  FIGS. 8B and 9 ). The method can start and end at various points in the process, and typically is a continuous process with multiple steps occurring simultaneously, so  FIGS. 8A, 8B, and 9  provide only an example of one ordering of method steps. In addition, the methods can be performed using massage apparatus  100 ,  180 ,  190 , or  700  (or one or more of its components, or components of these apparatuses), or any of the designs of  FIGS. 3-6 , or another apparatus capable of performing the steps provided below. 
     Various steps of motion-based control of a personal massager are illustrated in  FIG. 8A .  FIG. 8A  describes a method of motion-based control of a personal massager using a controller. One step includes detecting  802  motion of a controller that is in communication with the massager. An additional step includes determining  804  an adjustment to be made to operation of the massager and/or the controller based on the motion of the controller that was detected. As explained above, in some embodiments, both the massager and the controller can provide massage. Thus, the motion detected  802  for the controller can be used to adjust the massager operation, the controller operation, or both. 
     A further step includes converting  806  the detected motion of the controller into a control signal for the massager and/or controller that adjusts the operation of the massager and/or controller in response to the detected motion of the controller. In certain embodiments, the movement of the controller is converted into control signals to adjust the operation of the controller and massager simultaneously. In some embodiments, the method also includes sending  808  (e.g., wirelessly) a control signal to or within the massager and/or controller and receiving  810  the control signal at or within the massager and/or controller, wherein the control signal is a signal regarding the motion of the controller and/or the particular adjustment to be made to the massager/controller operation. The method can also include controlling  812  the motor of the massager/controller to change one or more settings for the massager/controller, such as an output motor power, a vibration pattern, etc. in response to the control signal. The method can continue to repeat these steps as additional changes in motion are detected  802  resulting in different adjustments to the operation of the massager/controller. 
     In embodiments in which the massager and/or controller includes a body parameter sensor, the method also includes detecting  814  at least one parameter associated with the human body in contact with either the controller or the massager and adjusting the operation of the massager and/or controller based on this detection by controlling  812  the motor of the massager. Where the body parameter sensor is present in the controller, the controller and/or the massager can determine  804  an adjustment to be made to the operation of the massager, convert  806  this into a control signal, and send  808  this to or within the massager/controller. This information can be transmitted separately or along with the control signals sent regarding motion detected by a motion sensor of the controller. Where the body parameter sensor is present in the massager, this information can either be sent  816  to the controller which can then determine  804  the adjustment, convert  806  to a control signal, and send  808  this back to the massager, or this information can be used directly by the massager in which a control module of the massager implements the required changes and controls  812  the motor of the massager to change the settings. Similarly, this information can be used to make changes to the operation of the controller. 
       FIG. 8B  is a flow chart illustrating the steps performed for motion-based control of a personal massager without a remote controller, in accordance with an embodiment of the invention. One step includes detecting  852  motion of the massager. An additional step includes determining  854  an adjustment to be made to operation of the massager based on the motion of the massager that was detected. A further step includes converting  856  the detected motion of the massager into a control signal for the massager that adjusts the operation of the massager and/or controller in response to the detected motion of the controller. The method can also include controlling  858  the motor of the massager to change one or more settings for the massager, such as an output motor power, a vibration pattern, etc. in response to the control signal. The method can continue to repeat these steps as additional changes in motion are detected  852  resulting in different adjustments to the operation of the massager. In embodiments in which the massager includes a body parameter sensor, the method also includes detecting  860  at least one parameter associated with the human body in contact with the massager and adjusting the operation of the massager based on this detection by controlling  858  the motor of the massager. 
     Referring next to  FIG. 9 , there is shown a flow chart illustrating the steps performed for determining an adjustment to the operation of a personal massager based on controller orientation, in accordance with an embodiment of the invention.  FIG. 9  further illustrates step  804  of  FIG. 8A  or step  854  of  FIG. 8B , wherein that adjustment is based on detected orientation of the controller and/or massager. The method includes determining  902  an orientation of the controller and/or massager along at least two axes with a motion sensor (e.g., accelerometer) of the controller. The method also includes calculating  904  a value for the orientation detected. Where the controller/massager includes a filter, the method can further include applying  906  the filter (e.g., digital filter) to remove noise due to vibration of the controller motor. The method also includes correlating  908  the value calculated with an adjustment to at least one setting of the massager and/or controller (e.g., turning the massager/controller on or off, changing an output motor power for the massager/controller, changing a vibration pattern for the massager/controller, etc.). In some embodiments, this includes applying a tilt orientation algorithm, such as that described above regarding  FIG. 2 , to determine a value for the orientation of the controller/massager. This value can be provided or accessed by a control module of the controller or massager for conversion  806 ,  856  into a control signal for controlling  812 ,  858  the massager/controller, as described regarding  FIGS. 8A and 8B . 
     While various embodiments have been described above, it should be understood that they have been presented by way of example only, and not limitation. For example, any of the components may employ any of the desired functionality set forth hereinabove. The functions can be distributed differently across the components or different functions can be combined into one component. The massager and controller can be designed to have a variety of different shapes and sizes, and the embodiments shown herein are simply examples of some such shapes and sizes. The internal components of the massager and controller can vary, and can include fewer or more components that those shown here. Thus, the breadth and scope of a preferred embodiment should not be limited by any of the above-described exemplary embodiments.