Surgery: kinesitherapy – Kinesitherapy – Device with applicator having specific movement
Reexamination Certificate
2000-12-14
2003-07-01
DeMille, Danton D. (Department: 3764)
Surgery: kinesitherapy
Kinesitherapy
Device with applicator having specific movement
C601S098000, C601S103000, C601S133000, C601S134000
Reexamination Certificate
active
06585668
ABSTRACT:
FIELD OF THE INVENTION
The invention relates to massage machines and in particular to computer controlled massage machines.
BACKGROUND OF THE INVENTION
A plethora of massage devices exist in the market to implement various massage methods and techniques. The devices range from simple objects having different and varied advantageous “massage shapes”, which are pressed and moved over the body by hand, to computerized massage machines.
A computerized massage machine is described in U.S. Pat. No. 5,083,552 to Lipowitz. The massage machine comprises a gantry to which is mounted an extension, hereinafter referred to as a “massage arm” having a massage head at an end thereof. The massage head comprises a component, hereinafter referred to as a “massage applicator”, which is a part of the massage machine that touches and presses on the body of a person to massage regions of the person's body. To perform a massage on a person, the person lies on an appropriate table and a computer controls motion of the gantry and massage arm to move and position the massage head so that the applicator presses on different regions of the person's body with desired pressure. The massage head comprises a device for measuring the pressure with which the applicator presses on the person's body and sensors that sense when the massage head is located near an edge of the body. Output signals from the pressure-sensing device are received by the computer and used to control the pressure with which the applicator presses on the person's body. Output signals from the edge-sensors are input to the computer and are used to control motion of the massage head so that the massage head does not move beyond the boundaries of the body
In spite of the availability of various massage devices of lesser or greater technical sophistication, massages that these devices can provide are not as satisfactory or as pleasing as massages provided by a person.
SUMMARY OF THE INVENTION
An aspect of some preferred embodiments of the present invention relates to providing a massage machine that gives a massage that mimics a massage given by a person.
A massage machine in accordance with a preferred embodiment of the present invention, comprises a massage head having at least one massage applicator, hereinafter referred to as a “robot massage hand”, that mimics a massage motion of the human hand. The robot massage hand preferably comprises at least one protuberance preferably resembling a finger and at least one protuberance preferably resembling an opposable thumb that opposes the at least one finger. The robot massage hand comprises apparatus for moving the opposable thumb and the at least one finger towards and away from each other with motions similar to motions with which the thumb and a finger of the human hand are moved towards and away from each other. The massage machine comprises apparatus for positioning the robot massage hand at a region of a person's body to be massaged with the thumb and at least one finger spaced apart and pressing on the region with desired pressures. The thumb and finger are then repeatedly brought towards and away from each other to squeeze and knead the region with a desired pressure in much the way that a human masseuse would squeeze and knead the region. The squeezing and kneading is repeated at different locations of the person's body to give the person a massage. Preferably, a computer controls the apparatus that moves and positions the robot massage hand and its digits (i.e. the thumb and at least one finger).
In some preferred embodiments of the present invention the at least one finger comprises a plurality of fingers. In some preferred embodiments of the present invention the fingers of the plurality of fingers move together as a single unit towards and away from the thumb. In some preferred embodiments of the present invention, the thumb and each of the plurality of fingers are moveable independently of each other to mimic squeezing and pressure motions that a masseuse uses to massage a person's body. In some preferred embodiments of the present invention the robot massage hand is an anthropomorphic hand.
Preferably, the computer that controls the motion of the robot massage hand comprises a memory in which data can be stored that define motion templates for controlling motion of the robot massage hand and its digits. Different motion templates are useable to control the robot massage hand and its digits so that motions of the hand and digits mimic different massage motions of a human hand.
An aspect of some preferred embodiments of the present invention relates to providing a massage machine having a massage applicator that is controllable to caress and/or stroke the body of a person using the massage machine.
Massages are often given for therapeutic and analgesic purposes, for example, to reduce muscle spasms, to unknot knotted muscles and restore proper muscle motion, to increase blood flow and/or reduce pain in massaged body regions. Massages, hereinafter referred to as caressing massages, are also given to relax and pleasure a person and increase the person's feeling of well being. Some of the motions used by a masseuse to relax and pleasure a person are not only the familiar “kneading” and striking motions of a massage but are also soothing caressing and stroking motions. The caressing and stroking motions are generally slower than the kneading and striking motions and are usually applied to the body with substantially less force than the kneading and striking motions. In accordance with preferred embodiments of the present invention, a machine massager comprises at least one applicator controllable to apply caressing and/or stroking motions to the body of a person using the machine massager. Preferably, the applicator that performs the caressing and stroking motions is a robot massage hand that is controlled by a computer responsive to a “caressing” template. In some preferred embodiments of the present invention the computer controls the robot massage hand responsive to a caressing template to move a finger or the thumb of the robot massage hand lightly over the skin of the person to scratch, tingle or tickle the skin. In some preferred embodiments of the present invention, the applicator that performs the caressing and/or stroking motions is a feather or feather like.
An aspect of some preferred embodiments of the present invention relates to providing a massage machine comprising a 3D-vision system.
The 3D-vision system provides a 3D map of the position and features of a person's body being massaged by the massage machine. The computer positions the robot massage hand at different locations of the person's body and controls motion of massage hand's digits responsive to the 3D map and to a motion template stored in the memory.
An aspect of some preferred embodiments of the present invention relates to providing a massage machine that has at least one massage head comprising a plurality of massage applicators. Preferably, the massage machine comprises a computer that controls motion of each of the plurality of applicators.
Preferably, at least one of the plurality of massage applicators is different from the other applicators. Preferably, at least one massage applicator is a robot massage hand. Preferably, during a massage, the computer can control the massage applicators so as to change an applicator that is being used to massage a person to a different one of the applicators of the plurality of applicators comprised in the at least one massage head.
There is therefore provided in accordance with a preferred embodiment of the present invention a massage machine for massaging a person's body comprising: at least one robot hand having a first digit and at least one second digit that is opposable to the first digit, wherein the first digit and at least one second digit are moveable towards and away from each other; and at least one digit actuator for moving the first digit towards and away from the at least one second digit to m
DeMille Danton D.
Fenster & Company
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