Massage apparatus
The present invention relates to a massage apparatus. More particularly, the invention relates to a massage apparatus which maintains the applied force of a massage head. The apparatus has massage head that is attached to a movable block. The movable block can be repositioned to apply force to a subject. A force sensor constantly transmits applied force readings to a microprocessor which maintains the applied force by adjusting the position of the movable block relative the subject's body.
1. A massage apparatus for use as a robot end effector comprising: a support structure, a movable block comprising an outer stage and an inner stage that are compressible towards each other along an axis, the moving block movably disposed within the support structure, a massage head attached to the movable block, a force sensor and a microcontroller; wherein the microcontroller is configured to dynamically reposition the movable block along the axis to maintain an applied force within a predetermined range in response to applied force readings transmitted by the force sensor; and further comprising a rotation module, the rotation module connecting the massage head to the movable block, the rotation module having a main shaft pulley and a follow shaft pulley mechanically linked thereto via a linking means, the main shaft pulley and/or follow shaft movably attached to the massage head such that the massage head revolves about the axis.
2. The massage apparatus according to claim 1 , further comprising an elastic means set in between the outer stage and the inner stage.
3. The massage apparatus according to claim 1 , wherein the force sensor is functionally disposed within the massage head.
4. The massage apparatus according to claim 2 , wherein the applied force readings are determined by measuring the deflection of the elastic means.
5. The massage apparatus according to claim 1 , further comprising a transmission for providing motive force to the movable block, the transmission having belt and pulley wherein the belt is functionally compromised when the applied force exceeds a predetermined value.
6. The massage apparatus according to claim 5 , wherein the massage head comprises a hard outer layer, and a soft inner layer such that the force sensor is partially encapsulated within a compartment in the soft inner layer.
7. The massage apparatus according to claim 6 , further comprising an inner hard layer disposed between the compartment and the force sensor.
8. The massage apparatus according to claim 1 , further comprising two additional shaft pulleys.
9. The massage apparatus according to claim 1 , wherein the linking means is selected from a group consisting of a belt, a chain or cogs.
10. The massage apparatus according to claim 1 , wherein each main shaft pulley and/or follow shaft pulley is movably attached to the massage head by way of a crank.