| 摘要 |
<p>Provided is a massage machine equipped with a massaging mechanism having a medical treatment portion to contact a human body through at least three rotational or translational joints. The massage machine comprises actuators for driving the individual joints independently, displacement detecting means for detecting the displacements of the individual joints, and a control unit for controlling the actuators. The control unit includes position control means for deciding a predetermined locus control face and controlling the locus of the medical treatment portion in the locus control face, and control means for controlling the force of the medical treatment portion in the normal direction of the locus control face.</p> |
