| 摘要 |
PROBLEM TO BE SOLVED: To provide a massage machine capable of suppressing a sense of discomfort felt by a person in therapy at transition from movement operation control to massage operation control.SOLUTION: The massage machine comprises rubbing balls, motors, a displacement detection unit, a force detection unit, and a control unit. The motors provide the rubbing balls with forces for moving the rubbing balls relative to a human body. The displacement detection unit outputs a signal in response to the displacement of the rubbing balls. The force detection unit outputs a signal in response to the magnitude of a force applied to the rubbing balls. The control unit performs: movement operation control for moving the rubbing balls to an operation position; massage operation control for providing forces from the motors to the rubbing balls in the operation position and performing massage to the human body; and flexibility control for controlling the flexibility of the rubbing balls during execution of the massage operation control. The control unit interrupts the movement operation control on the basis of the difference between a flexibility target value of the rubbing balls set by the flexibility control during execution of the movement operation control and a flexibility detection value calculated on the basis of the signals from the force detection unit. |
