Patent Description:
Patent <CIT> discloses a non-invasive stimulation apparatus which introduces percutaneous pulsed electrical stimulation in circular fashion into and around the gastrointestinal tract for relieving intestinal problems such as constipation. Unlike patent <CIT>, the present invention for relieving the mentioned intestinal problems and for relieving constipation, for example, performs an abdominal massage at a certain pressure of controlled magnitude which is applied consecutively along the entire course of the large intestine based on using a fluid dynamic system or an electromechanical system.

Patent application <CIT> also discloses an apparatus and a method for treating constipation. The apparatus includes a support member having at least one vibratory element attached to the support member. The mentioned apparatus further includes an actuator, which is attached to the vibratory element, and it moves for providing gastrointestinal peristaltic movements for relieving constipation. Unlike the present invention, patent application <CIT> does not allow performing an abdominal massage at a certain pressure of controlled magnitude and consecutively in the different areas of the colon, i.e., the ascending section, transverse section and descending section, of a patient.

Finally, patent <CIT> discloses another device for performing massages in the abdominal area also for relieving constipation, for example. The mentioned device includes a unit for performing the massages which incorporates a rotary structure that turns with the help of a motor. In addition to the differences in size of the devices proposed in patent <CIT> and in the present invention, the rotary structure performing the massage in the mentioned Korean patent is also unable to allow applying pressures of controlled magnitude continuously, and in specific areas, following the path of the colon of the patient primarily because it does not include at least one massage unit associated with a support plate.

Other examples of devices for performing an abdominal massage in which one or more massage units moving mechanically are applied can be found in documents <CIT>, <CIT>, <CIT>, and <CIT>.

It therefore seems necessary to obtain apparatuses, and also methods, for abdominal massages that are small, transportable and precise, and that are able to reproduce manual massages given by medical professionals for treating intestinal problems (symptoms of constipation, for example).

To solve the aforementioned drawbacks as well as others and to provide an apparatus for abdominal massages that is small, transportable and precise, that can be automatic, an also being able to reproduce manual massages given until now, a first aspect of the present invention provides an abdominal massage apparatus according to claim <NUM>.

According to an embodiment, the at least two massaging heads are positioned close to at least two sections out of the ascending, transverse or descending colon.

According to another embodiment, the apparatus comprises three massaging heads which are positioned close to at least two sections out of the ascending, transverse or descending colon. According to yet another embodiment, the apparatus comprises four massaging heads which are positioned close to at least two sections out of the ascending, transverse or descending colon. The massaging heads are preferably located adjacently and aligned along the section or sections of the colon of the patient.

Moreover, according to the invention, said control means may manipulate each massaging head and synchronize the magnitude, sequence and frequency of actuation of each massaging head, making it possible to deliver multiple different massage sequence patterns such as pressure waves that progress longitudinally along the colon or turbulence pattern inside a specific section of the colon, or a standing wave in the colon, or a pressure difference along the colon or any combination of the above patterns who are applied, simultaneously.

According to the invention, frequency of operation of each massaging head is between <NUM>-<NUM> cycles per second. However, the proposed apparatus is designed to deliver broader range of frequencies, <NUM>-<NUM> cycles per second, in order to enable variable treatment patterns during the treatment session. For instance, the patient might be advised to begin a treatment at higher frequency and reduce it gradually during the treatment session.

Furthermore, if a specific section of the colon is known to be an individual's dominant cause for constipation, the proposed invention enables specific treatment pattern to the diagnosed section, while the other sections of the colon are treated differently.

According to an embodiment, each of the massaging heads is an actuator providing the localized force as a cyclic force. In this case, said actuator is preferably a fluid driven actuator comprising a flexible casing which is inflated or deflated by pumping a fluid until providing said force, of controlled magnitude, in a given time period according to said certain sequence pattern.

The fluid for inflating or deflating the mentioned casing is preferably an aqueous fluid, air or another gas. Likewise, the pumping can comprise the intervention of a fluid dynamic drive. In this case, electrovalves electrically connected to a programmable central unit are incorporated for supplying or removing said pressurized fluid in a controlled manner in relation to said flexible casings for its inflation and deflation respectively. Alternatively, the fluid can be removed in a more passive manner, i.e., the fluid is removed by means of opening the electrovalves and with the help of the pressure applied by the abdomen of the patient him/herself.

The mentioned flexible casing can also comprise the association of several chambers which are superposed on, connected to and communicated with a central portion in the form of bellows. Preferably, said chambers have an oblong or cylindrical shape and are oriented transverse to the course of the section of the colon on which they are applied superposed thereon.

In addition, the support plate or plates can be attached to a belt, the latter comprising at least one band or tightening straps going around the waist of the patient and positioning the massaging heads such that they are adjacent to said section or sections of the colon of the patient.

The control means are preferably remote control means which may be operated by the patient. In addition, the control means may be powered by batteries or power supply. Alternatively, the control means may be arranged at least in part in said belt.

In a second aspect, not covered by the present invention, it is provided an abdominal massage method for relieving constipation, and also for intestinal gases. The proposed method comprises performing said abdominal massage on a patient by means of the actuation of massaging heads integrated in massage units. The mentioned massage units are associated with one or more support plates, which are secured to and facing an abdominal wall of the body of the patient.

Unlike the methods known in the state of the art, the proposed method comprises arranging at least two massaging heads adjacent to at least one section out of an ascending, transverse or descending section of the colon of the patient thereby to apply a localized force generating a pressure on the colon section in a direction normal to the abdominal area, said at least two massaging heads being synchronized to operate such that to progress along the section or sections of the colon of the patient and to enhance evacuation of the patient's colon.

According to an embodiment, the localized force is controlled to decrease in magnitude consecutively along the section or sections of the colon of the patient on which said massaging heads are applied in order to impose pressure gradient inside the colon.

According to an embodiment, the massaging heads perform on the area of application one or more consecutive and synchronized pressure actuations with the same or different magnitude and duration.

According to another embodiment, the massaging heads are synchronized to apply said localized forces coherently, i.e. in a unified way, to the abdominal surface adjacent to the ascending colon and to the abdominal surface adjacent to the descending colon and to the surface adjacent to the transverse colon of the patient in order to increase patient's intra-abdominal pressure. According to yet another embodiment, the massaging heads are synchronized to apply said localized forces to progress consecutively on the abdominal surface from adjacent to the ascending colon towards the abdominal surface adjacent to the transverse colon and from the descending colon towards the surface adjacent to the transverse colon of the patient in order to enhance turbulence in the transverse colon.

The localized forces are preferably applied by inflating and deflating a chamber of the massaging heads at a given frequency. In an embodiment, said given frequency varies along the section or sections of the colon of the patient in order to enhance turbulence inside the colon.

The duration of the abdominal massage is variable; however, the duration of the massage will preferably be between <NUM> and <NUM> minutes per session and at least <NUM> session per day. During said period, one or more cycles of the abdominal massage with force/pressure of controlled magnitude will be applied in said section or sections of the colon of the patient, by operating the massaging heads, preferably but not limited to, in the clockwise direction.

The foregoing and other features and advantages will be more fully understood based on the following detailed description of embodiments in reference to the attached drawings, in which:.

Various embodiments of the invention are discussed in detail below. While specific embodiments are discussed, specific terminology is employed for the sake of clarity. However, the invention is not intended to be limited to the specific terminology so selected and it should be understood that this is done for illustration purposes only. A person of ordinary skill in the art will recognize that other components and configurations can be used without parting from the scope of the invention being defined by the appended claims.

<FIG> shows one embodiment of the abdominal massage apparatus on a patient <NUM> proposed in this invention. According to this embodiment, the apparatus consists of a single support plate <NUM> (which can be of any nature and more or less rigid) with which there are associated four adjacent and aligned massaging heads <NUM> (configured two by two), each integrated in a massage unit <NUM>, and the massaging heads <NUM> are applied (when performing an abdominal massage) such that they are adjacent to each of the ascending section <NUM> and descending section <NUM> of the colon <NUM> of the patient <NUM>.

For performing the mentioned massage, each massaging head <NUM> applies a localized force or axial movement generating a pressure in a perpendicular, or normal, direction on the abdomen of the patient <NUM>. Said massaging heads <NUM> can be driven by means of at least one fluid dynamic drive <NUM>, for example, a pump, a piston or a pressurized fluid receptacle (see <FIG>).

The operation of the massaging heads <NUM> is controlled by control means <NUM> (<FIG>) which allow regulating by means of different control buttons/elements <NUM> the time and/or the speed of activation of each massaging head <NUM>, and/or the pressure that they apply on the patient <NUM>, and/or the time during which they apply the mentioned pressure, etc..

According to the embodiment of <FIG>, the mentioned control means <NUM> control the massaging heads <NUM> (and as a result the massage units <NUM>) by means of tubes/conduits <NUM> (for example, made of silicone or polyurethane) through which a fluid (aqueous fluid, air or another gas) passes, thereby allowing the operation of the massaging heads <NUM> for performing the abdominal massage. The mentioned tubes/conduits as seen in <FIG> are connected at one of their ends to the abdominal massage apparatus itself and include at the other end connectors <NUM> (male) that can be connected to the mentioned control means <NUM> (by means of respective female connectors <NUM>). Alternatively, not illustrated in this case, the control means can be integrated in the abdominal massage apparatus itself. In this case, the control means comprise a control panel with control buttons integrated in the apparatus itself.

<FIG> shows another embodiment of the abdominal massage apparatus proposed in this invention. According to this embodiment, the apparatus consists of two support plates <NUM>, each having associated therewith two adjacent and aligned massaging heads <NUM>, each integrated in a massage unit <NUM>, and the massaging heads are applied (when performing the abdominal massage) such that they are adjacent to each of the ascending section <NUM> and descending section <NUM> of the colon <NUM> of the patient <NUM>.

In the embodiments shown in <FIG> and <FIG>, the massage units <NUM> integrating the massaging heads <NUM> are fixed with respect to the support plate or plates <NUM>, i.e., they do no move, nevertheless, these massage units <NUM> can be driven individually and alternately in a synchronized manner as a result of the mentioned control means <NUM>. The support plate or plates <NUM> are also attached to a belt <NUM>, the latter comprising at least one band or tightening straps <NUM> going around the waist of the patient <NUM> when performing the abdominal massage (which straps can be fastened in the front like in <FIG> or in the back like in <FIG>, particularly in the event that they incorporate massaging heads <NUM> envisaged for being adjacent to a transverse section of the colon <NUM> of the patient <NUM>) and they allow correctly positioning the massaging heads <NUM> such that they are adjacent to the mentioned sections of the colon <NUM> of the patient <NUM>.

The massaging head <NUM> preferably comprises a flexible casing which is inflated or deflated by pumping of the mentioned fluid (aqueous fluid, air or another gas) until providing said force/pressure of controlled magnitude in a given time period. In a preferred embodiment, the flexible casing is formed by the association of several chambers which are superposed on, connected to and communicated with a central portion, forming a structure in the form of bellows. According to this preferred embodiment, said chambers can have an oblong shape (see <FIG> and embodiment of <FIG>) or a cylindrical shape (embodiment of <FIG>) and are oriented transverse to the course of the section of the colon <NUM> on which they are applied adjacent thereon. The inflating/deflating operations can be carried out by the mentioned fluid dynamic drive <NUM>. Furthermore, inflating and deflating of the massaging heads <NUM> can be controlled, for example, with electrovalves <NUM> (for example, three-way electrovalves) connected to a programmable central server (not illustrated). Alternatively, inflating of the massaging heads <NUM> can be controlled, for example, by means of opening the electrovalves <NUM>, allowing the fluid stored in each actuator to come out during the opening thereof, the actual pressure of the abdomen of the patient <NUM> being what forces the fluid to be discharged outward.

The proposed abdominal massage apparatus can also include a power source, for example, batteries (not illustrated) for operating the different components of the apparatus. Nevertheless, the proposed abdominal massage apparatus can be powered by means of the direct connection thereof to the power supply.

<FIG> shows another embodiment of the abdominal massage apparatus proposed in this invention. In this case, the apparatus comprises a support plate <NUM> on which there is arranged a set of massage units <NUM> formed by nine massage units (which have been schematically depicted and could be those illustrated in <FIG> and/or <NUM>), integrating the massaging heads <NUM> in the form of fluid driven actuators which, by means of a pressure of a fluid, inflate and deflate so as to allow performing the abdominal massage. In other words, this embodiment in relation to the embodiment of <FIG> and/or <NUM> incorporates, in addition to an additional massaging head <NUM> in the support plate or plates <NUM> adjacent to the ascending section <NUM> and descending section <NUM> of the colon <NUM> of the patient <NUM> (i.e., three massaging heads <NUM> per ascending section <NUM> and descending section <NUM> of the colon <NUM>), three other adjacent and aligned massaging heads <NUM>, applied such that they are adjacent to the transverse section <NUM> of the colon <NUM> of the patient <NUM>. In this case, the fluid dynamic drive <NUM> can collect the fluid form a central reservoir <NUM> (<FIG>) and deliver same to a channel which is connected to the massaging heads <NUM>. Two electrovalves <NUM> regulating the passage of the aqueous or gaseous fluid are arranged between the channel and each massaging head <NUM>.

The mentioned central reservoir <NUM> is preferably a flexible vessel made of a polymer film that can house the fluid needed so that the fluid driven actuators can operate. The central reservoir <NUM> can be manufactured with ultrasonically welded PU films.

In addition, to convey the fluid from the central reservoir <NUM> towards the fluid driven actuators forming the massaging heads <NUM>, i.e., to carry out the pumping system, a system for inflating using pressure by means of a series of membranes is used. Inflation is produced by the action of the fluid forced to perform inflation by means of the pumping system. This pumping system (for example, a hydraulic or pneumatic pump) is what applies pressure and transmits thrust force to said massaging heads <NUM>.

The abdominal massage apparatus proposed in this invention may comprise multiple massaging heads configurations (preferably in the form of fluid driven actuators). For example, according to another embodiment, in this case not illustrated for simplicity of the figures, the proposed abdominal massage apparatus in its simplest configuration comprises only two massaging heads (not limitative as a greater number of massaging heads are also possible) which are positioned on a single section the colon <NUM> of the patient <NUM>, either the ascending <NUM>, the transverse <NUM> or the descending <NUM> section, to perform the abdominal massage to the patient <NUM>.

Besides that, other embodiments (not illustrated either) of the proposed abdominal massage apparatus disclose a 3x3 configuration (three massaging heads <NUM> such that they are adjacent to at least two sections of the colon <NUM>, e.g. the ascending section <NUM> and the descending section <NUM>), a 2x2x2 configuration (two massaging heads <NUM> such that they are adjacent to each of the ascending section <NUM>, transverse section <NUM> and descending section <NUM> of the colon <NUM>), a 3x3x3 configuration (three massaging heads <NUM> such that they are adjacent to each of the sections <NUM>, <NUM>, <NUM> of the colon <NUM>), a 4x4 configuration, etc. The fluid driven actuators are preferably independent from one another, as illustrated in <FIG>, <FIG> and/or <NUM>, nevertheless, in other alternative embodiments (also not illustrated) these actuators can even form a continuous tubular element with inflating or deflating in sections.

<FIG>, <FIG> and <FIG> show other possible embodiments of the abdominal massage apparatus proposed in this invention, showing the position of the support plate <NUM> facing the abdomen of the patient <NUM> in its working position. In this particular case, the examples illustrated in <FIG> and <FIG> consist of a single massage unit <NUM>, whereas the example of <FIG> comprises three massage units <NUM>. In the three embodiments, said massage units <NUM> are associated with guide means <NUM> which allow guided movement of said massage units <NUM> along a path coinciding with the ascending section, transverse section and descending section of the colon of the patient <NUM> to whom the mentioned support plate <NUM> has been fixed, said movement being driven by translational means <NUM>.

By way of non-limiting example, the guide means <NUM> can consist of a C-shaped channel (see <FIG>), or of one or two guide profiles <NUM> in the form of rails (see <FIG>) on which the massage units <NUM> are anchored and slide. Said massage units <NUM> will preferably have bearings or wheels allowing them to slide on said guide means <NUM>, and they will preferably have a coupling configuration preventing said massage unit <NUM> from separating from said guide means <NUM>, without hindering the relative sliding thereof.

The movement of the massage unit <NUM> along the guide means <NUM> will be driven by translational means <NUM>, which, by way of example, can consist of an electric motor <NUM> connected by means of gears <NUM> to a rack arranged along the guide means <NUM> (<FIG>), or to a belt <NUM> (<FIG>), or to a threaded shaft arranged along the guide means <NUM> (not shown), or to a combination of the former or other known translation methods. It will be obvious to a person skilled in the art that many other embodiments are possible. The mentioned translational means <NUM> can be controlled and/or regulated by means of the mentioned control means, or other complementary means, in a manner coordinated with the control and/or regulation of the massaging heads <NUM>.

Therefore, the abdominal massage apparatus of <FIG>, <FIG> and <FIG> mainly comprises: a support plate <NUM> with which there is associated at least one massage unit <NUM>; guide means <NUM>, associated with said support plate <NUM>, sized so that said at least one massage unit <NUM> is arranged superposed on the ascending section <NUM>, transverse section <NUM> and descending section <NUM> of the colon <NUM> of the patient <NUM>, for an abdominal massage; means <NUM> for moving said at least one massage unit <NUM> along said guide means <NUM> such that said massage unit <NUM> is arranged facing a treatment area including an abdominal wall of a patient <NUM>; adjustable securing means <NUM> for adjustably securing the mentioned support plate <NUM> that go around the torso of the patient <NUM>, positioning and maintaining the support plate <NUM> in said treatment area; a massaging head <NUM> integrated in said massage unit <NUM> for applying a pressure of controlled magnitude; and control means for controlling said movement of the massage unit <NUM> and said pressure of controlled magnitude.

In this case, the massaging head <NUM> is driven by means of a mechanical drive (<FIG>), so according to a preferred embodiment, the massaging head <NUM> consists of a threaded or toothed vertical shaft connected to a motor which makes the vertical shaft move up and down. The simplest solution, a priori, consists of using a threaded rod <NUM> as a shaft, whereas the motor makes the rod turn in order to move the pressure element up and down (in a non-limiting manner). For performing the movement with controlled pressure, the mechanical drive preferably has its own motor <NUM> integrated in the massage unit <NUM>, such that it moves with the assembly.

The device shown in <FIG> consists of inverted U-shaped guide means <NUM> made up of a single guide reproducing the path of the colon.

In contrast, the example of <FIG> shows three independent straight sections which together form the guide means <NUM>, one massage unit <NUM> being linked to each of said straight sections. In other words, a single massage unit <NUM> travels along each of the sections <NUM>, <NUM>, <NUM> of the colon <NUM> of the patient <NUM>.

In the third embodiment shown in <FIG>, the parallel vertical guides G1 and G2 arranged at opposite ends of the support plate <NUM> serve as a vertical guide for a transverse guide Gt bearing a massage unit <NUM>. The transverse guide Gt can move vertically along the vertical guides G1 and G2, and the massage unit <NUM> can move transversely along the transverse guide Gt. The assembly of vertical guides G1 and G2 and transverse guide Gt forms the guide means <NUM> and they allow the massage unit <NUM> to move following the path of the colon <NUM> of the patient <NUM>.

The translational movement and motion of the massage unit <NUM> is produced by the translational means <NUM>, which can consist, for example, of a rack-type system or a toothed rail (<FIG>) arranged along the guide means <NUM> and on which gears <NUM> driven by means of a motor <NUM> engage. In another alternative embodiment shown in <FIG>, a belt <NUM>, which can be a cogged belt, runs parallel to the guide means <NUM>, the massage unit <NUM> being attached to said belt <NUM>, which is driven by means of a motor (not shown) fixed to the support plate <NUM>, causing the dragging of the massage unit <NUM>. In another alternative embodiment, the belt <NUM> is fixed by its ends and the drive motor is mounted on the massage unit <NUM>.

The inclusion of several conducting guides <NUM> for carrying data and electricity to the massage unit <NUM> is also envisaged.

For the correct operation of the abdominal massage apparatus in any of the described embodiments, the apparatus will have data storage and processing units that provide flexibility for reproducing several types of massages, i.e. different massage sequence patterns. The massage patterns are codified as a combination of force evolution during time, actuator unit activation sequence and duration and frequency of actuation for each actuator. The combination of these parameters allows to perform the mentioned types of massage such as: a pressure wave translating along the trajectory of the colon <NUM>, a pressure turbulence pattern, a pressure gradient along the ascending <NUM> and descending <NUM> sections of the colon <NUM> with its maximum in the transverse section <NUM> of the colon or a pressure decreasing gradient along the trajectory of the colon <NUM> among other possible patterns. The different types of massages to be given to the patient <NUM> can be stored in an internal memory of the control means <NUM> (or alternatively in a memory external thereto, for example, stored in the Cloud) and be loaded by means of applying control software including a series of code instructions for performing the abdominal massage.

The abdominal massage apparatus is able to reproduce manual massages given by professionals for treating the symptoms of constipation. The apparatus can store different types of massages from among which the patient <NUM> or another user may select the massage he/she wishes to receive, for example, by means of the mentioned control buttons <NUM> of the control means <NUM>. Alternatively, the massage may be selected by means of using an independent smart computing device such as a smartphone, a tablet or a computer connected to the abdominal massage apparatus. In yet another alternative, the massage may be selected by means of a control panel integrated in the apparatus itself.

Massages can be loaded into the apparatus by the patient <NUM> him/herself or by a medical professional responsible for supervising the procedure through the control means (in any one of the alternatives thereof) or alternatively by means of using a smart computing device. The different types of massages are preferably stored in file format. To prepare these files, data from manual massages performed by healthcare professionals can be captured. The data obtained from massages is subsequently analyzed and processed for optimal storage and use by the software application of the apparatus.

The generated files contain the information needed for the apparatus to reliably reproduce the manual massage. Some of the stored parameters are: pressure applied over time in different areas of sections <NUM>, <NUM>, <NUM> where the massage will be given, location and movement of pressure/pressures over time, etc..

The massage will be adjustable, offering different options for regulating duration, speed/frequency and intensity/magnitude. Intensity/magnitude of the massage is understood as the range of controlled pressures applied, which can comprise pressures ranging from <NUM> to <NUM>/cm<NUM> and at most limited to <NUM>/cm<NUM>. According to the invention, frequency of operation is between <NUM>-<NUM> cycles per second, however, according to the disclosure, broader range of frequencies, e.g. <NUM>-<NUM> cycles per second, in order to enable variable treatment patterns during the treatment session may equally be delivered. Furthermore, and for the purpose of preventing injury to the patient <NUM>, the apparatus can have pressure sensors (for example, force-sensing resistor -FSR-, pressure cells or piezoelectric sensors) monitoring at all times the pressure applied on the patient <NUM>. The information picked up by the pressure sensors can be used to regulate the intensity of the massage together with the parameters entered by the patient <NUM> or another user. If the pressure sensors report a value exceeding the safety limits allowed by the apparatus, said apparatus can emit, in one embodiment, an alarm sound. Likewise, if the pressure limit is exceeded for a time period of more than <NUM> seconds, the apparatus stops the massage and returns to a rest state.

The apparatus can capture and store data from massage sessions performed and store it in the data unit of the control means <NUM> or alternatively of a smart computing device. The apparatus can even send the captured and stored data to an external device or server through cable communication or by means of a wireless connection. Preferably, the information captured by the apparatus is: an identifier of the massage performed, the patient receiving the massage, duration of the session, a 3D map of pressures applied during the massage, mean pressure of the areas of maximum pressure and times of operation of the apparatus, among others. This information will allow a healthcare professional to monitor the progress and compliance of the patient <NUM> with the prescribed treatment, and even to make necessary adjustments to said treatment depending on the information received. Professionals may furthermore remotely configure the apparatus for the comfort of the patient <NUM> and agility of the follow-up process.

Claim 1:
An abdominal massage apparatus, comprising:
- one or more support plates (<NUM>) attached to a belt comprising a band or tightening straps configured for being arranged around a waist of a patient, such that the support plates are secured to an abdominal wall of the body of a patient (<NUM>) and in use face the abdominal wall of the patient (<NUM>);
- a pumping system;
- massage units (<NUM>) associated with the support plates (<NUM>), the massage units (<NUM>) comprising fluid driven actuators having a flexible casing configured for performing an abdominal massage to the patient (<NUM>);
- control means for controlling deflation and inflation of the fluid driven actuators by the pumping system, wherein
at least two fluid driven actuators (<NUM>) are arranged on the support plates such that in use they are adjacent to at least one or more colon sections including an ascending section (<NUM>), and a descending section (<NUM>) of a colon (<NUM>) of the patient (<NUM>), and wherein
the control means is configured to control the fluid driven actuators to apply localized forces that generate a pressure on the corresponding colon sections in a direction normal to the abdominal area, characterised in that
the control means is configured for controlling a magnitude and timing of the localized forces by inflating the fluid driven actuators until providing the localized forces of predetermined magnitude and subsequent deflating the fluid driven actuators, wherein
a frequency of operation of the fluid driven actuators (<NUM>) is in a range of <NUM> - <NUM>.