An apparatus comprising: an acupressure section; a driving module for driving the acupressure section, wherein the driving module includes a horizontal driving motor and a vertical driving motor; and a controller configured to control acupressure power in real time, characterised by the controller comprising means for: (a) setting a reference vertical height and a range of acupressure power to reference vertical height for each horizontal position of the acupressure section and setting a target acupressure power within a range of the reference vertical height, and determining a specific horizontal position corresponding to an inflection point of a measured value of a driving current applied to the horizontal driving motor during forward and backward movement of the acupressure section; (b) calculating a current measured acupressure power from measured data of the load of a user applied to a load cell and calculating a new target acupressure power in a massage process by reflecting a deviation between a vertical height of the acupressure section at the specific horizontal position and the reference vertical height at the specific horizontal position stored in a database; and (c) comparing the target acupressure power with the current measured acupressure power and controlling a vertical height of the acupressure section. an acupressure section; a driving module for driving the acupressure section, wherein the driving module includes a horizontal driving motor and a vertical driving motor; and a controller configured to control acupressure power in real time, characterised by the controller comprising means for: (a) setting a reference vertical height and a range of acupressure power to reference vertical height for each horizontal position of the acupressure section and setting a target acupressure power within a range of the reference vertical height, and determining a specific horizontal position corresponding to an inflection point of a measured value of a driving current applied to the horizontal driving motor during forward and backward movement of the acupressure section; (b) calculating a current measured acupressure power from measured data of the load of a user applied to a load cell and calculating a new target acupressure power in a massage process by reflecting a deviation between a vertical height of the acupressure section at the specific horizontal position and the reference vertical height at the specific horizontal position stored in a database; and (c) comparing the target acupressure power with the current measured acupressure power and controlling a vertical height of the acupressure section. (a) setting a reference vertical height and a range of acupressure power to reference vertical height for each horizontal position of the acupressure section and setting a target acupressure power within a range of the reference vertical height, and determining a specific horizontal position corresponding to an inflection point of a measured value of a driving current applied to the horizontal driving motor during forward and backward movement of the acupressure section; (b) calculating a current measured acupressure power from measured data of the load of a user applied to a load cell and calculating a new target acupressure power in a massage process by reflecting a deviation between a vertical height of the acupressure section at the specific horizontal position and the reference vertical height at the specific horizontal position stored in a database; and (c) comparing the target acupressure power with the current measured acupressure power and controlling a vertical height of the acupressure section.