| 摘要 |
PROBLEM TO BE SOLVED: To provide a massaging machine capable of offering more effective massage to a person by changing the direction of massaging pressure to be applied to his/her body region. SOLUTION: In this massaging machine, its multi-joint arm 31 having at least three joints 30 capable of rotary or parallel movements is provided with a massaging element 32 at its end. This massaging machine includes an actuator which drives each joint separately, a displacement detecting sensor which detects any displacement of the joints during their rotary or parallel movements, and a control circuit which drives the actuator. The control circuit drives the massaging element at the end of the arm by using a vector that has been three-dimensionally set to face a desired direction. Therefore, any desired direction can be chosen via the massaging element in applying massaging pressure to a region of a human body. COPYRIGHT: (C)2007,JPO&INPIT
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