DEVICE FOR MASSAGING A USER

Field of the Invention

The invention relates to a device for massaging a user, such as a massage chair, in particular the apparatus and mechanisms for effecting movement of one or more end effectors.

Background of the Invention

Massage chairs are typically configured as reclining chairs, with moving massage elements located beneath the seat pads. The massage elements may be massage balls, rollers or similar which move linearly or rotationally; or vibrating surfaces may be implemented to provide a massage. Other massage chairs utilize waterjets or airbags to create a massaging effect.

Summary of the Invention

Aspects and embodiments of the present invention are set out in the appended claims. These and other aspects and embodiments of the invention are also described herein.

According to an aspect described herein, there is provided a device for massaging a user, comprising: at least one end effector being capable of moving in two dimensions in a plane (optionally automatically or without sustained input from the user), preferably wherein said moving is across a user or a user’s back (i.e. from one side to another side or up and down), and a controller for controlling the movement of the end effector.

The at least one end effector is preferably capable of moving independently in each of the two dimensions. That is, the at least one end effector may move in a direction in only one dimension (e.g. upwards or downwards), in a direction in only the other dimension (e.g. sideways), or in a direction that is formed of a combination of dimensions (e.g. diagonally). The at least one end effector is preferably capable of movement with a single degree of freedom of actuation in each of the dimensions. Said movement is preferably relative to a user or a user’s back. Said movement is preferably a translation, more preferably a linear translation involving movement in a straight line. Said movement preferably involves moving while remaining at the same position in one dimension so as to stay in the plane, preferably wherein said moving is generally parallel to a surface or object, that is, without approaching or moving away from the object. The plane is preferably generally parallel (or tangential) to a user and/or a user’s back.

According to an aspect described herein, there is provided a device for massaging a user, comprising: at least one end effector being capable of moving independently in three dimensions (optionally relative to a user or a user’s back (automatically or without sustained input from the user)), preferably wherein said movement is with a single degree of freedom of actuation in each of the dimensions. The directions may be orthogonal. Preferably a first direction and a second direction are both parallel to a user. A first direction may be parallel to the at least one first rail and a second direction parallel to the at least one second rail.

The at least one end effector may be capable of moving in two perpendicular directions relative to a user, preferably two directions parallel to a surface of a user. The at least one end effector may be capable of moving horizontally and vertically (in the plane) relative to a user or a user’s back. The at least one end effector may thereby be capable of moving along an x and y axis defined with respect to a user or a user’s back. Similarly, the z axis is defined perpendicular to the plane of a user or user’s back such that z movement is towards and away from a user or a user’s back.

The device may further comprise at least one first rail and a or at least one second rail, wherein the at least one first rail is moveable along the at least one second rail, and the at least one end effector is movable along the respective at least one first rail; preferably wherein the at least one first rail extends perpendicular to the at least one second rail and/or wherein the at least one first rail is oriented horizontally and the at least one second rail is oriented vertically relative to a user. Movement along the rails may be effected by motors, preferably wherein said motors are located away from the centre of the rails.

The at least one first rail may be provided in the same plane as the at least one second rail. In some implementations, the at least one first rail may be provided between two second rails, and each end of the at least one first rail is movable along one of the two second rails. Preferably, the two second rails comprise a track (for example a rail guide) and the at least one first rail comprises formations configured to engage with the tracks. Preferably, the formations are provided on each end of the at least one first rail, and more preferably the formations are connected by a shaft. This can prevent rail crabbing. Preferably, the at least one first rail is movable along the two second rails via a rack and pinion mechanism. Pinions may be provided on either end of the at least one first rail, and preferably are connected by a shaft.

The device may further comprise a structure (preferably a frame) for supporting the at least one first rail and the at least one second rail; preferably wherein the structure defines a volume for the at least one end effector to operate, more preferably wherein said volume is a non-occluded volume. The at least one end effector may move freely in any path (in the two/three dimensions) in the volume. The structure may form a box. The structure (e.g. the frame) may be formed of the at least one first rail and/or the at least one second rail. Preferably, two second rails form two (parallel) sides of the structure (two sides of the frame).

In preferable implementations, the device contains no central supporting section. The supporting sections may be provided at the perimeter of the device. The at least one second rail may form at least one supporting section. The at least one first rail may provide a moveable supporting section. Preferably, the device contains no static supporting section within the volume for the at least one end effector to operate. The device can therefore provide a non-occluded volume or plane.

The at least one end effector may be capable of moving in three dimensions relative to a user - that is, sideways (along an x axis defined in relation to the user), upwards or downward (along a y axis defined in relation to the user), or towards or away from a user (along a z axis defined in relation to the user). As will be appreciated, the at least one end effector may be capable of moving freely (along any path) in 3D space (within the volume defined by the structure). Preferably movement in each of the three dimensions is independent.

The device may further comprise at least one actuator for affecting motion of the at least one end effector towards or away from the user. Said motion may be in a direction perpendicular to (each of) the (extension of the) first and second rails.

Each actuator may comprise a straight-line linkage, preferably a Scott Russell linkage. Each actuator may comprise a four-bar linkage. This is configured to maintain the orientation of the end effector. The end effector may be pivotably mounted to the four-bar linkage, preferably to the primary strut of the four-bar linkage.

In preferable implementations, the straight-line linkage is driven by a leadscrew (the ‘z-leadscrew’). The z- leadscrew may be inclined along a primary strut of the straight-line linkage. The z-leadscrew may be driven by a splined shaft on the respective first rail. The z-leadscrew may be driven by the splined shaft via bevel gears. The splined shaft preferably extends the length of the respective first rail. Preferably, the z-leadscrew engages with a leadscrew nut (z-leadscrew nut). More preferably, the z-leadscrew nut is attached to a secondary strut of the straight-line linkage. Even more preferably, the z-leadscrew nut is attached to a secondary strut of the straight-line linkage on an extended portion of this strut, thereby creating a second- class lever. Alternatively, the z-leadscrew nut is attached to a secondary strut of the straight-line such that it forms a third-class lever.

The device may further comprise at least one carriage on which the respective at least one end effector is mounted, preferably wherein each carriage travels on a respective first rail; more preferably wherein each carriage and/or the respective at least one end effector overhangs the respective first rail, even more preferably wherein each carriage and/or the respective at least one end effector overhangs the respective first rail in a direction towards an other first rail. The linkage may be powered via a motor provided in association with the carriage. The motor may power the straight-line linkage via a worm gear, which may assist in resisting any force being applied on the end effector. The motor may be located such that it does not interfere with the at least one first rail and the second rail.

The at least one actuator may be mounted on the respective at least one carriage, and each actuator and each end effector are configured so as not to extend behind/below the carriage (that is, not to extend behind the surface of the carriage on which the actuator is mounted). This may avoid the actuator / end effector interfering with the rails.

The carriage may be mounted on the side of the respective first rail. Preferably, the carriage sits on a side which in use faces in a direction towards another first rail. The carriage may be mounted on the respective first rail such that it does not extend above the first rail (that is it does not extend in the z-direction beyond the surface of the first rail). Nonetheless, the end effector may be extendable above the first rail. Preferably, the carriage is mounted on the x-leadscrew. More preferably, the interface between the carriage and respective first rail comprises one male (on rail) and one female (on carriage) profile.

Preferably the structure comprises a base. The at least one first rail and/or the at least one carriage may be mounted on and/or supported by the structure, preferably by the base of the structure. Preferably the carriage comprises a least one contact surface configured to make contact with the base. The contact surface may have approximately the same y coordinate (i.e., the same position vertically in the plane relative to a user or a user’s back when in use, which is to say the same position along the second rail) as the end effector head. The carriage may directly transmit force (such as z-direction force, i.e. force towards or away from the user or user’s back when in use, which is to say in a direction perpendicular to both the first and second rails) to the structure, preferably to the base. This can facilitate distribution of the loading stress to the structure. Preferably the base is reinforced. In preferable implementations, the surface of the base is configured to facilitate movement of the at least one first rail and/or the at least one carriage. The surface may have a low coefficient of friction. For example, it may be smooth and/or lubricated.

Preferably the first rail comprises at least one contact surface with the base. More preferably, the first rail comprises at least one contact surface with the base at each end. Even more preferably, the first rail comprises at least two contact surfaces with the base at each end. Preferably the first rail comprises at least two points of contact at each end with each second rail. This can prevent rail jamming due to deformation of the box resulting from external loads.

The device may comprise a first section and a second section for supporting a user, wherein the device is arranged to be configured in at least two configurations providing different relative angles between the first section and the second section.

According to a further aspect of the invention, there may be provided a device for automatically massaging a user, comprising: a first section and a second section for supporting a user, wherein the device is arranged to be configured in at least two configurations providing different relative angles between the first section and the second section.

This can allow a user to reconfigure the arrangement as necessary for different purposes.

The configurations may be flat, reclined or upright, preferably arrangements of a chair. A flat configuration may comprise an angle of between 170 to 190 degrees between the two sections. A reclined configuration may comprise an angle of between 110 and 150 degrees. An upright configuration may comprise an angle of between 90 and 130 degrees.

The device may further comprise an interface between the first section and the second section. Preferably the interface is curved. This can help to facilitate the movement of an end effector between different planes.

The interface may be in the form of a third section configured to be reversibly locatable between the first section and the second section. Preferably the third section may be curved. Preferably the third section forms a continuous and/or smooth interface with one, or preferably both, of the first and second sections. The device may further comprise means for reversibly locating the third section between the first section and the second section. For example, the means preferably comprises a four-bar-linkage. Locating the third section between the first and second section may provide a first configuration, and removing the third section from between the first and second section may provide a second configuration.

Preferably a or the at least one second rail is continuous across the sections. This can help to facilitate the movement of an end effector (possibly carried on a or the at least one first rail) between the sections.

Preferably a or the at least one first rail is configured to travel along a non-linear at least one second rail.

The at least one end effector may also be capable of moving in two dimensions in at least one further plane. Preferably it is capable of moving between the plane and the at least one further plane. This means the end effector can travel in the plane of more than one section, for example a back section of a seat and a base section of a seat.

Preferably the at least one first rail comprises a first contact point and a second contact point for engaging the at least one second rail, wherein the first contact point and second point are pivotable relative to one another. This can preferably facilitate the at least one first rail moving around a curve to travel from the plane to the at least one further plane.

Preferably the first contact point comprises two individual contact points. The two individual contact points may be equidistant a pivot point defining the rotation between the first contact point and the second contact point. This can help to maintain a fixed height of the rail (relative to a base and/or at least second rail), which can aid in smooth motion of the at least one first rail along a curved section of the at least one second rail.

The device may further comprise at least two end effectors. The at least two end effectors may be capable of independent movement (preferably wherein all of the end effectors are capable of moving independently). The at least two end effectors may be mounted on respective separate first rails.

Movement of the at least two end effectors along the respective first rails may be powered by separate motors, preferably wherein said separate motors are located on the respective first rails; more preferably wherein said separate motors are located so as to avoid interfering with the motion of the first rails. In particular, the motors may be oriented in different directions so as not to impede the first rails from being located adjacent each other.

The separate motors may be located within the respective first rails. Each at least one first rail may comprise at least one motor. The at least one motor is preferably arranged within the casing of the at least one first rail. Each at least one first rail preferably comprises motors for effecting motion of the end effector in three dimensions relative to a user. Preferably, the separate motors may be located sequentially and/or in-line along the respective first rails. Preferably, this is parallel to the longitudinal direction of the at least one first rail. This can minimize the space occupied by the motors. It can also assist in facilitating the arrangement being implemented in different devices, including reversibly provided within or retrofitted to devices. More preferably, the motors are oriented parallel to the first rail (along the x-direction, i.e., horizontally relative to a user or a user’s back). This can minimize the z-dimension of the device (the dimension of the device in a direction perpendicular to the first and second rails). The motor configured to actuate movement along at least one second rail (in the y-direction) may be located centrally in the at least one first rail. This motor may be connected to spur gears, which are preferably connected to a pinion shaft. The pinion shaft may be, for example, connected to gearing. The motor configured to actuate movement of the carriage along the at least one first rail (in the x-direction) may be located at one end of the at least one first rail. This motor may comprise an outwardly facing shaft. The shaft can be interfaced with (for example for gearing). The motor configured to actuate movement of the end effector or end effector head portion towards and away from the user (in the z-direction) may be located at a second end of the at least one first rail. This motor may comprise an outwardly facing shaft. The shaft can be interfaced with (for example for gearing). In some implementations, the motors may be mounted into a tray, which is configured to slide into a casing (or housing) of the at least one first rail. The casing of the at least one first rail may be a close section extrusion. These features can facilitate ease of assembly with high volume manufacture.

The casing of the at least one first rail may comprise cut-out portions. These may maintain bending stiffness while providing torsional compliance to account for box deformation and therefore deformation or misalignment of the at least one second rail. The cut-out portions may be provided on the top and/or bottom surfaces of the at least one first rail. The casing may preferably further comprise metallic interfaces through the cut-out portions. These can allow heat transfer from thermal interface material to thermal dissipation foil on the outside of the rail structure.

The at least one first rail may further comprise rail cap ends, which are preferably configured to seal off rail ends. This can prevent direct air path between gearmotors and user, impeding the transmission of sound to the user. The at least one first rail may further comprise thermal interface material, preferably which is configured to reduce vibration transmission. The thermal interface material may have a high mass. Preferably, the thermal interface material has a low stiffness. More preferably, the thermal interface material encloses gearing.

In preferable embodiments, the motors are connected to spur gears to effect motion in their respective dimension. The device may comprise a leadscrew (the ‘x-leadscrew’) provided along the at least one first rail, wherein the at least one carriage is mounted on the x-leadscrew. The leadscrew may be rotated by a motor to actuate travel of the at least one carriage along the respective first rail, preferably via a screw nut. The splined shaft may be driven by a further motor. This can be configured to actuate motion in the z-direction. In preferable implementations, the splined shaft is provided vertically spaced (in the z-direction) but horizontally coincident (i.e., always having the same y position) with the x-leadscrew. Preferably, the splined shaft is provided below the x-leadscrew. This can provide a greater range of movement for the z-leadscrew while minimizing the z-dimension of the first rail.

The first and/or second rails may comprise a bracket. Preferably the first rail comprises a bracket over the leadscrew (the x-leadscrew). This can axially constrain the leadscrew. The at least two end effectors may be capable of being located at the same location in at least one dimension; preferably wherein the at least two end effectors are capable of being located at the same position along a longitudinal axis of the second rail (or at the same location in the dimension parallel to the extension of the second rail), that is, at the same height. That is, the at least two end effectors may be capable of overlapping in the y dimension. The at least two end effectors may be extendable via the actuator and so may also be located at the same location in the z dimension. The at least two end effectors may further be capable of being located at the same position parallel to the longitudinal axis of the second rail (or at the same location in the dimension parallel to the extension of the second rail), that is, at the same location in the x dimension (where said locating at the same location in the x dimension is not simultaneous to said locating at the same location in the y dimension).

The at least two end effectors may be oriented in different directions (in the y dimension) thereby to allow said location of the at least two end effectors at the same location in one dimension. This may allow carriages to be located adjacent each other in one dimension (the x dimension), thereby allowing the at least two end effectors to be capable of being located at the same location in another dimension (the y dimension).

The at least one end effector may be capable of being reversibly attached and detached from the device.

The device is configured to allow said at least one end effector to be automatically changed with another at least one end effector. The device may comprise a finger for mounting the end effector, preferably wherein said finger is provided as part of the actuator. The finger may comprise a spigot having a retractable pin for securing the end effector. The pin may be biased, preferably via spring-loading. The pin may be retracted and extended by means of a solenoid, preferably wherein the solenoid is internal to the actuator. The end effector may comprise a formation for engaging the finger spigot and/or the finger spigot pin.

According to a further aspect, there is provided a device for automatically massaging a user, comprising: at least one end effector being capable of moving relative to a user, wherein the device is configured to allow said at least one end effector to be automatically changed with another at one least end effector.

According to a yet further aspect, there is provided a device for automatically massaging a user, comprising: an end effector head comprising two or more portions capable of moving relative to a user, wherein the device is configured to actuate automatic changeover between the two or more portions.

According to a yet further aspect, there is provided a device for automatically massaging a user, comprising an end effector head configured to perform at least two different types of motion.

Preferably, the at least two different types of motion are at least two of: linear motion, pivoting motion and rotary motion; preferably wherein any of the types of motion may be oscillatory.

The at least one end effector may comprise a plurality of surfaces and the device may further comprise an actuator configured to rotate and secure the end effector head such that one of the plurality of surfaces is in a direction towards a user. Preferably, the actuator is configured to rotate the end effector incrementally, preferably wherein the actuator is a Geneva drive mechanism.

The device may comprise two end effectors and an actuator configured to extend and retract at least one end effector in a direction towards a user. This can help to facilitate the end effector being configured such that one or both of the end effectors is positioned to contact a user.

The device may further comprise an end effector changing mechanism comprising a plurality of holsters for end effectors, wherein the end effector changing mechanism can be actuated so as to change the holster that is presented (to the finger/carriage). The end effector changing mechanism may be located at an end of the first and/or second rail; preferably wherein the device comprises a plurality of first rails and the end effector changing mechanism is located at an end of one of the first rails; more preferably such that the end effector changing mechanism is accessible to carriages mounted on any first rail. The end effector changing mechanism may comprise a wheel including the plurality of holsters, wherein the wheel is rotated to change the holster which is presented. The holsters may be spigots for engaging with corresponding formations on an end effector, preferably wherein the spigots each include a pin for engaging with the formation.

The device may further comprise an end effector head comprising two or more end effector head portions. The two or more end effector head portions may be different surfaces of the end effector head. The two or more end effector head portions may be different end effectors. Preferably, the device further comprises an end effector changing mechanism configured to rotate the end effector head in order to change the end effector head portion. The end effector changing mechanism may have one degree of freedom, preferably wherein the one degree of freedom is rotation about an axis. The axis may be parallel to a user (i.e., in the x- y plane, which is to say the plane defined by the first and second rails, which is to say the plane corresponding to a user or a user’s back, when in use). This can allow the end effector head portion to be positioned in the z-direction, that is to say the end effector head portion can be actuated towards or away from the user (in the z-direction). Preferably, the end effector changing mechanism is mounted on the four- bar linkage. This can stabilize the orientation of the end effector head (and end effector head portion) with respect to the x-y plane (the plane of the user or user’s back) at different z positions. The rotation of the end effector changing mechanism is preferably incremental, and more preferably intermittent. The end effector changing mechanism may be a Geneva drive mechanism. A Geneva drive mechanism can convert continuous rotation into incremental rotation, so that the end effector head is rotated only to the positions in which an end effector head portion is facing the user (i.e. the z-direction, such that it can engage with a user or a user’s back). Preferably the number of increments is equal to the number of end effector head portions on the end effector head. Preferably, the end effector changing mechanism may be actuated by a motor provided on the carriage. Preferably the end effector changing mechanism may be actuated by a servomotor mounted on the four-bar linkage.

Preferably the at least one end effector comprises two surfaces configured to contact a user simultaneously and an actuator configured to drive rotary motion of the two surfaces, preferably oscillatory rotary motion. According to a further aspect, there is provided a device for automatically massaging a user, comprising at least one end effector comprising two surfaces configured to contact a user simultaneously and an actuator configured to drive rotary motion of the two surfaces, preferably oscillatory rotary motion.

This can facilitate further massage techniques, for example those akin to shiatsu.

A further end effector may be provided between the two surfaces. Preferably, one of the at least one end effector and the further end effector can be retracted such that either one or both can be engaged for use (arranged to contact a user). The at least one end effector may be freely pivotable, preferably freely pivotable about an axis configured to be parallel to a user.

According to a further aspect, there is provided a device for automatically massaging a user, comprising a first end effector configured to be movable towards and away from a user, and second end effector configured to be freely pivotable about an axis perpendicular to the direction of motion of the first end effector. This can allow the end effector to move or rock to accommodate contours of a user’s body.

The motion of the first end effector may linked to the motion of the second end effector. The device may further comprise a drive means configured to drive the motion of the first end effector and the second end effector, preferably wherein the drive means is a motor.

In some preferable implementations, the at least one end effector is configured to vibrate. The device may further comprise a vibration means configured to transmit vibrations to the at least one end effector, preferably wherein the vibration means is a voice coil actuator (VCA). This can enhance the massage routine. The at least one end effector may be located on the vibration means, preferably wherein the vibration means is spring-loaded, more preferably wherein the end effector is configured to transmit loading to a further component upon a particular compression of the spring.

The at least one end effector may be configured to apply force to the user via a portion for supporting a user. The portion for supporting the user may be formed of a deformable material, preferably a sheet material being held in tension, more preferably a fabric material. The portion for supporting the user may be for supporting the user’s back. The device may further comprise a ridge arranged in contact with the portion for supporting the user for aligning the user’s spine (for use with the device). The device may be formed as a seat or chair, preferably wherein the device further comprises a headrest. The device may further comprise retractable and/or folding supports, such as legs. The device may be usable in a chair configuration or a horizontal configuration, preferably wherein the configuration of the device can be changed between the chair configuration and the horizontal configuration, more preferably via the extension/unfolding and retraction/folding of the supports.

The device may further comprise a controller for controlling the movement of the at least one end effector. The controller may be configured to control the movement of the at least one end effector in accordance with a predetermined massage routine. Said massage routine may comprise the at least one end effector moving in any path in the dimensions in the volume in which the at least one end effector operates. The controller may be configured to receive information via a wireless signal, such as Bluetooth®. According to an aspect described herein, there is provided a device for automatically massaging a user, comprising: at least two end effectors being capable of independently moving relative to a user (preferably wherein all of the end effectors are capable of moving independently).

According to an aspect described herein, there is provided a device for automatically massaging a user, comprising: at least one end effector being capable of moving relative to a user, wherein the device is configured to allow said at least one end effector to be automatically changed with another at least one end effector.

According to an aspect described herein, there is provided a device for automatically massaging a user, comprising: an end effector head comprising two or more portions being capable of moving relative to a user, wherein the device is configured to allow automatic changeover between the two or more portions.

The changeover may be performed by actuating rotation of the end effector head.

According to an aspect described herein, there is provided a device for massaging a user, comprising: at least one end effector being capable of translating in two dimensions relative to a user; and a controller for controlling the movement of the end effector.

The device may be implemented in or as a seat arrangement. The device may further comprise legs for supporting the device and a section for supporting a user, wherein the section for supporting the user is rotatable relative to the legs.

According to a further aspect of the invention, there is provided an end effector for a massage device comprising two or more portions capable of moving relative to a user, wherein the device is configured to actuate automatic changeover between the two or more portions.

According to a yet further aspect of the invention, there is provided an end effector for a massage device, configured to perform at least two different types of motion. The at least two different types of motion may preferably at least two of: linear motion, pivoting motion and rotary motion; preferably wherein any of the types of motion may be oscillatory.

The end effector preferably comprises a plurality of surfaces, wherein the end effector is rotatable such that one of the plurality of surfaces can be secured in an orientation towards a user.

The end effector preferably comprises two surfaces configured to contact a user simultaneously and perform rotary motion, preferably oscillatory rotary motion.

According to a further aspect of the invention, there is provided an end effector for a massage device comprising two surfaces configured to contact a user simultaneously and perform rotary motion, preferably oscillatory rotary motion. The two surface may be provided on a ring, preferably wherein the ring rotates, more preferably wherein the ring rotates within its own plane. The end effector preferably comprises a further surface configured to contact a user. The further surface may be configured to move linearly, preferably towards and away from a user. The further surface may be retractable and extendable, preferably relative to the two surfaces, such that the two surfaces and/or the further surface are configured to be in contact with the user. Preferably, motion of the two surfaces is linked to motion of the further surface. The end effector may further comprise a motor configured to drive the motion of the two surfaces and the further surface.

In preferable implantations, the two surfaces are freely pivotable, preferably freely pivotable about an axis configured to be parallel to a user, preferably freely pivotable about an axis perpendicular to the direction of motion of the further surface.

According to a further aspect of the invention, there is provided an end effector for a massage device, wherein at least a portion of the end effector is freely pivotable, preferably freely pivotable about an axis configured to be parallel to the surface of a user.

This can allow the end effector to rock and/or pivot to accommodate contours of a user’s body.

Preferably, the end effector is configured to vibrate. The end effector further may further comprise a vibration means, preferably wherein the vibration means is a voice coil actuator (VCA). The end effector is preferably spring-loaded. The end effector may be configured to transmit load to a further component upon a particular compression of the spring.

The end effector as described is preferably adapted for use with a massage device as described.

According to an aspect described herein, there is provided a method of calibrating the device described herein for a particular user, comprising providing a sensing end effector, and scanning a particular user who is using the device with the sensing end effector thereby to obtain topography data related to a user’s body. The scanning may be performed over a programmed calibration map. The method may comprise the further step of associating the topography data with a profile for the particular user. The method may comprise the further step of adapting a massage routine for use with the device in accordance with the topography data.

According to an aspect described herein, there is provided a carriage for use in a device for automatically massaging a user, comprising an end effector (for massaging a user); and an actuator for causing the end effector to move relative to the carriage.

The device may be integrated into the structure of a chair, a seat or similar. Alternatively, the device may be provided as a standalone device configured to be retrofitted to a chair, a seat or similar.

As will be appreciated, the at least one end effector preferably does not move on a ‘rocker’, since said ‘rocker’ mechanisms generally involve out-of-plane movements. More complex ‘rocker’ mechanisms may necessitate a larger form factor, a more complex mechanism, and/or a reduction in the smoothness of actuation (due to the reciprocating movements involved). As used herein, the term ‘translation’ preferably connotes the act of moving in a single plane (that is, moving while remaining at the same position in one dimension so as to stay in a single plane), preferably wherein said moving is generally parallel to a surface or object, that is, without approaching or moving away from the object.

As used herein, the term ‘end effector’ preferably connotes the most distal element of a mechanism for affecting an object, that is, the element on the end of a mechanism for affecting the object; and/or the element of the mechanism which is in contact with the user/portion for supporting the user. An end effector may form a single point of contact with a user/portion for supporting the user.

As used herein, the term rail preferably connotes any long and thin element; more preferably any long and thin element along which an element (e.g. a carriage) may slide.

The invention extends to methods and/or apparatus substantially as herein described with reference to the accompanying drawings.

The invention extends to any novel aspects or features described and/or illustrated herein.

Any apparatus feature as described herein may also be provided as a method feature, and vice versa. As used herein, means plus function features may be expressed alternatively in terms of their corresponding structure, such as a suitably programmed processor and associated memory.

Any feature in one aspect of the invention may be applied to other aspects of the invention, in any appropriate combination. In particular, method aspects may be applied to apparatus aspects, and vice versa. Furthermore, any, some and/or all features in one aspect can be applied to any, some and/or all features in any other aspect, in any appropriate combination.

It should also be appreciated that particular combinations of the various features described and defined in any aspects of the invention can be implemented and/or supplied and/or used independently.

In this specification the word 'or' can be interpreted in the exclusive or inclusive sense unless stated otherwise.

Brief Description of the Figures

One or more aspects will now be described, by way of example only and with reference to the accompanying drawings having like-reference numerals, in which:

Figure 1 shows an embodiment of the device of the present invention;

Figure 2 shows a first embodiment of the x-y rail system;

Figure 3 shows a first embodiment of a hand and end effector system; Figure 4 shows a further view of the x-y rail system of Figure 2 connected to a wheel of a first embodiment of an end effector changing mechanism;

Figure 5a shows a further view of the wheel of the end effector changing mechanism;

Figure 5b shows a yet further view of the wheel of the end effector changing mechanism;

Figure 6 shows a diagrammatic view of the wheel of the end effector changing mechanism;

Figure 7a shows a wheel spigot pin of the end effector changing mechanism;

Figure 7b shows a further view of the wheel spigot pin of the end effector changing mechanism;

Figure 8a shows the end effector changing mechanism assembly;

Figure 8b shows a further view of the end effector changing mechanism assembly;

Figure 9a shows a view of a hand of the system;

Figure 9b shows a view of the hand of Figure 9b with an end effector connected;

Figure 10 shows a view of a finger of the hand of Figures 9a and 9b;

Figure 11 a shows a diagrammatic view of the finger;

Figure 11 b shows a further diagrammatic view of the finger;

Figure 12a shows an end effector;

Figure 12b shows a further view of the end effector of Figure 12a;

Figure 13 shows the finger with the end effector connected;

Figure 14a shows the hand assembly with the end effector connected;

Figure 14b shows a further view of the hand assembly with the end effector connected;

Figure 14c shows a further view of the hand assembly with the end effector connected;

Figure 14d shows a yet further view of the hand assembly with the end effector connected;

Figure 15a shows the hand assembly in engagement with the end effector changing mechanism;

Figure 15b shows a further view of the hand assembly in engagement with the end effector changing mechanism;

Figure 15c shows a yet further view of the hand assembly in engagement with the end effector changing mechanism; Figure 16 shows the hand with a contour mapping end effector attached;

Figure 17a shows a perspective diagrammatic view of the finger with a contour mapping end effector attached;

Figure 17b shows a side diagrammatic view of the finger with a contour mapping end effector attached;

Figure 18 shows a map of the positions of calibration measurements;

Figure 19 shows a second embodiment of the x-y rail system;

Figure 20a shows a perspective diagrammatic view of the x-rail of the x-y rail system of Figure 19;

Figure 20b shows a further perspective diagrammatic view of the x-rail of the x-y rail system of Figure 19, without a cover;

Figure 21 shows a view of a second embodiment of the hand mechanism on the x-y rail system of Figure 19;

Figure 22a shows a perspective view of the second embodiment of the hand mechanism;

Figure 22b shows a further perspective view of the second embodiment of the hand mechanism;

Figure 23 shows a perspective view of the second embodiment of the hand mechanism without the housing;

Figure 24a shows a perspective view of a slightly different implementation of the second embodiment of the hand mechanism;

Figure 24b shows a side view of the hand mechanism of Figure 24a;

Figure 24c shows a further perspective view of the hand mechanism of Figure 24a;

Figure 25 shows an end effector head suitable for attachment to the any implementation of the second embodiment of the hand mechanism;

Figure 26 shows a perspective view of a further embodiment of the device of the present invention;

Figure 27a shows a perspective view of the further embodiment of the device of Figure 26 in an upright configuration;

Figure 27b shows a side view of the embodiment of Figure 26 in an upright configuration;

Figure 28a shows a perspective view of the further embodiment of the device of Figure 26 in reclined configuration;

Figure 28b shows a side view of the embodiment of Figure 26 in a reclined configuration;

Figure 29a shows the central curved section of the embodiment of Figure 26; Figure 29b shows the back section of the embodiment of Figure 26;

Figure 30 shows a further perspective view of the embodiment of Figure 26 in a pivoted configuration;

Figure 31 a shows a perspective view of the x-y rail arrangement of the third embodiment of the invention without a cover;

Figure 31 b shows a close-up view of the x-y rail arrangement of the third embodiment;

Figure 32a shows a side cross-sectional view of the end of an x-rail within the y-rail of the third embodiment;

Figure 32b shows a top perspective view of the end of an x-rail;

Figure 33a shows a perspective view of the x-rail, on which is mounted a carriage carrying the hand mechanism of the third embodiment;

Figure 33b shows a further perspective view the x-rail, on which is mounted a carriage carrying the hand mechanism of the third embodiment, without the casing;

Figure 33c shows a bottom perspective view of the x-rail and the carriage;

Figure 34a shows a side view of the x-rail and carriage of the third embodiment when travelling along a flat plane;

Figure 34b show a side view of the x-rail and carriage of the third embodiment when travelling around a curved plane;

Figure 35 shows a perspective view of the hand mechanism of the third embodiment mounted on a carriage;

Figure 36 shows a perspective view of the hand mechanism of the third embodiment;

Figure 37 shows a bottom perspective view of the hand mechanism of the third embodiment;

Figure 38 shows a bottom view of the hand mechanism of the third embodiment;

Figure 39 shows a side perspective view of the hand mechanism of the third embodiment without the inner casing; and

Figure 40 shows a side cross-sectional view of the end effector mechanism of the third embodiment.

Detailed Description

System overview

Figure 1 shows an exemplary arrangement of a device 10 (specifically, a massage chair) according to the present invention. The massage chair 10 has an outer structure formed as a frame 32, across the front of which is stretched a portion 30 for supporting a user (such as a fabric mesh) so that the fabric is in tension. The outer frame 32 is configured such that it encloses a plane having a generally oblong shape. This plane will be considered to define the x-y plane, the y-direction being the length of the frame (the longer dimension) and the x-direction the width. The frame 32 may have rounded ends such that it forms an oval ring. The mesh 30 is stretched across to cover the plane encircled by the outer frame 32. The plane is of a size larger than the back, neck and head of an adult man, such that when a user is positioned on the massage chair 10, all (or at least the majority) of the user’s back, neck and head fit within the outer frame 32 and makes contact with the surface of the chair 10 (for example via the mesh 30 or headrest 12). A ridge 14 runs along the centre of the length of the massage chair 10 in the y-direction. At one end of the length (the y-axis) of the massage chair 10, there is provided a headrest 12. The headrest 12 is preferably formed of a resilient pad, for example a foam pad. It may have an upper outer surface which is wipe-clean, for example leather, faux leather, PVC fabric etc. The headrest 12 and the chair 10 both comprise magnets so that the headrest 12 can be affixed magnetically at different positions with respect to the frame 32 (for example up and down a distance along the length of the chair 10) to accommodate users of different heights.

At the opposite end of the chair 10 along the y-axis, a seat base 16 extends from the plane of the frame 32 at an angle greater than 90-degrees. The seat base 16 comprises a frame across which the mesh extends. The frame is configured in a seat arrangement, comprising perpendicular arms extending substantially perpendicular to the plane defined by the chair frame 32, the perpendicular arms being joined by a front bar. The front bar has a symmetrical downward curve to facilitate a user sitting down on the seat base 16. The frame may be formed as a single continuous element or may comprise modular segments such that it can be disassembled. The perpendicular arms of the seat base frame extend into receiving holes within the frame 32 of the massage chair 10. The seat base 16 is further suspended by support arms 18, which run approximately 45 degrees to both the plane of the main frame 32 and the seat base 16. As such, the seat base 16 is connected to the frame 32 at at least four points. The support arms 18 can also function as arm rests. The seat base 16 can be removed from the frame 32 by disconnecting both the seat base frame and support arms 18 from their engagement with the frame 32.

The massage chair 10 is supported by a first set of legs 20 at one end (along the y axis) and a second set of legs 22 at the opposite end. The first set of legs 20 are located at the same end as the head rest 12, and the second set of legs 22 are located at the same end as the seat base 16. The first set of legs 20 extend further from the frame 32 than the second set of legs 22. The first set of legs 20 are rotatable around an axis across the width of the frame 32 (along the x-direction) and can be locked at a variety of different angles from the frame 32. The different angles of connection between the first set of legs 20 and the frame 32 have the effect of changing the angle of the back and seat base with respect to the floor. For example, the angle between the first set of legs 20 and the frame 32 may be approximately 90-degrees, while the angle between the frame 32 and the floor may be approximately 45-degrees. The second set of legs are extendable from the frame in a direction parallel to the length of the chair 10 and can be locked in an extended position. In this way, the frame 32 can be held at an inclined angle with respect to the ground. The first set of legs 20 can be pivoted to sit parallel with the length of the frame 32, and the second set of legs 22 can be retracted (for example, by a sliding mechanism) to sit flush against the frame 32. This minimizes the space occupied by the massage chair 10, facilitating its storage and facilitating its use in an alternative horizontal position (for example on the floor or a bed).

The massage chair 10 can be used in an inclined position supported by the legs 20 and 22 in an extended configuration. Alternatively, the chair 10 can be used in a horizontally reclined position, for example by placing the chair 10 flat on the floor or on a bed and removing the seat base 16. As the body of a user is elongated in the reclined position, the user may sit further down along the body of the chair 10, placing their hips further away from the headrest 12. At this end, the ‘lower’ end, there is provided a fabric covered foam- padded area to support the user’s hips.

The embodiment as illustrated in Figure 1 is provided with a planar massage area. However, as illustrated in Figure 26, and as will be described in further detail later, the massage device may also be provided as a multi-section massage chair device 2010, having a seat base section 2044 and a back section 2042 over which the massage actuator can act, the sections being provided at an angle to one another.

Each device 10, 2010 comprises three main internal mechanisms to enable massaging of a user: an x-y rail system; a ‘hand’ mechanism mounted on and movable by the x-y rail system; and a mechanism for changing an end effector of the hand. Exemplary embodiments of the device 10, 2010 are described below, each having different implementations of the three mechanisms. However, it should be understood that each mechanism of one embodiment could be interchanged for the equivalent mechanism of another embodiment. For example, the x-y rail system of the first embodiment could be used with the hand mechanism and end effector changing mechanism of the second embodiment or third embodiment, and vice versa. A method of calibrating and controlling the device is also described; this could be used to control the device of any embodiment, or further embodiments comprising a combination of features from the described embodiments.

X-y rail system of a first embodiment

Figure 2 shows an x-y rail system 100 of a first embodiment of the system, which is located within the x-y plane defined by the frame 32 and positioned beneath the mesh 30. The x-y rail system 100 facilitates free movement of an end effector 210a in the x-y directions (as defined above relative to the x-y plane of the frame 32). The x-y system comprises a y-rail 110 (also referred to as a second rail), which is a rail that runs along the y-direction (parallel to the long in-plane axis of the frame 32, or along the length of a user’s back). The y-rail 110 comprises a rail or track upon which two y-carriages 120 and 124 are located. A ‘carriage’ refers to a platform comprising a formation to engage with a rail such that it is moveable along it. The carriages also act as a platform to support further components so that those further components can be moved along the track. In particular, the y-carriages 120 and 124 are movable in the y-direction along the y- rail 110. Each y-carriage 120 and 124 supports an x-rail 122 and 126 (also referred to as first rails). Each x- rail 122 and 126 is a rail or track which runs perpendicular to the y-rail 110 such that it runs along the x-axis (the short in-plane axis of the frame 32, or along the width of a user’s back). Upon each of the x-rails 122 and 126 is located an x-carriage 130 and 140, which can run along the x-rails 122 and 126 in the x-direction. Each x-carriage 130 and 140 supports a massager ‘hand’ 200 which holds an end effector 210a. The ‘hand’ is a mechanism/actuator for moving the end effector 210a and is so-called as it mimics the hand of a massage therapist. The hand 200 and end effector 210a and the mechanisms by which they operate will be described in greater detail below (note that in Figure 2 only the hand 200 of the first x-carriage 130 is displayed with an end effector 210a attached).

The illustrated embodiment utilizes linear rail tracks and the carriages comprise corresponding sliding brackets which fit over the tracks and can run along them. However, other rail or track systems could also be implemented. The x-range of travel of each x-carriage 130 and 140 on each x-rail 122 and 126 is configured to allow the end effector to travel across the whole width of a typical user’s back. Similarly, the y-range of travel of the y-carriages 120 and 124 on the y-rail 110 is configured to allow the end effector to travel across the whole length of any typical user’s back and neck. The massage area is not occluded by the frame structure 32. The x-carriages 130 and 140 can move independently of one another on their separate x-rails 122 and 126. The y-carriages 120 and 124 can move independently of one another but cannot cross one another. For example, a first y-carriage 120 can move in one direction along the y-rail 110, while a second y- carriage 124 remains stationary. The first y-carriage 120 can only move as far as allowed by the position of the second y-carriage 124. The end effector on the first x-carriage 130 overhangs the first x-rail 122 in the y- direction towards the second x-carriage 140. Similarly, the end effector on the second x-carriage 140 overhangs the second x-rail 126 in the opposite y-direction, towards the first x-carriage 130. Due to this arrangement (and because no portion of the hand 200 extends behind the surface of the x-carriage 130 on which the hand 200 is mounted, such that the hand 200 cannot interfere with the rails), the two end effectors can be positioned side by side at the same y value, thereby to mimic a massage therapist placing their hands/thumbs at the same height on the user’s back.

Each of the carriages are driven by individual motors, which may be provided with gearboxes. The y- carriages 120 and 124 are controlled by motors 150 and 154 located at the bottom end of the system (the end distal from the head rest 12). The first x-carriage 130 is controlled by a motor 132 located at one end of the first x-rail 122. The motor 132 is cantilevered in the y-direction, in the opposite direction to the overhang of the end effector 134 on the first x-carriage 130. The second x-carriage 140 is controlled by a motor 142 at the end of the second x-rail 126. This second motor 142 is located on the opposite side of the frame 32 to the first motor 132. The second motor 142 is cantilevered in the opposite y-direction to the overhang of the end effector on the second x-carriage 140 (therefore this is the opposite direction to the motor 132 of the first x- carriage 130). This avoids the first and second motors 132, 142 interfering with the motion of the y-carriages 120, 124 (and thereby the x-rails 122, 126) when they are moved close to each other.

‘Hand’ mechanism of the first embodiment

Figure 3 shows the ‘hand’ 200 of the massage apparatus. As noted, a ‘hand’ 200 refers to the mechanism/actuator which effects movement of the end effector 210a and is so-called as it is analogous to the hand of a massage therapist. The hand 200 facilitates free movement of the end effector 210a in the z- direction (the direction perpendicular to the x-y plane of the frame 32, or towards/away from a user’s back). The end effector 210a exerts pressure on the user’s back, through the mesh 30, to perform a massage. The z position of the end effector is such to allow contact with a user’s back when the hand mechanism 200 is approximately in the middle of its actuation range. The end effector 210a shown in Figure 3 is ball-shaped and formed of a (generally somewhat resilient) polymer material. This is to mimic the thumb of a massage therapist. Massage routines typically make use of not only the thumb, but also, for example, the palm or a fist. Accordingly, different end effectors having different shapes and made from different materials can be used.

A hand 200 sits on each of the x-carriages 130 and 140. A motor 250 for the hand 200 is positioned on the opposite side of the x-carriage 130 to the hand 200 so that the motor 250 does not interfere with the movement of the hand 200 and/or such that it does not contact the user’s back (through the mesh 30) for all positions of the end effector 210a. In an alternative, the motor 250 may be positioned on the same side of the x-carriage 130 as the hand 200, and may be configured such that it nevertheless does not interfere with the hand 200, or the user’s back. The motor 250 powers movement of a worm 240, which passes through the x- carriage 130 and engages with the teeth of a worm wheel 242 to cause rotation of the worm wheel 242. The use of a worm wheel drive system provides a good gear ratio and may mitigate the risk of the system being back-driven due to pressure applied to the end effector 210a by a user’s back.

Each hand 200 comprises a ‘finger’ 212. A ‘finger’ 212 forms part of a ‘hand’ 200 and comprises an elongate bar, on one end of which the end effector is located. The fingers 212 move to cause the motion of the end effectors. The end effector 210a is located at one end of the finger 212, the other end of the finger 212 being connected to a moving bracket 214 via a first pivot pin 216. The pivot pin 216 runs through the finger 212 and enables it to be rotated relative to the bracket 214. The moving bracket 214 comprises a bracket carriage 218 which engages with a linear rail 220 such that it can move along it. The bracket carriage 218 runs on lubricated ball bearing races. The linear rail 220 is fixed to the x-carriage 130 and runs in a direction parallel to the y-direction of the frame 32. This arrangement allows the moving bracket 214 to move backwards and forwards along the y-direction. A second pivot pin 236 passes through the finger 212 at a position halfway between the first pivot pin 216 and the centre of the end effector 210a, connecting the finger 212 to an actuation strut 234. The actuation strut 234 runs between the finger 212 and a fixed bracket 230, which is attached to the x-carriage 130. A third pivot pin 232 connects the actuation strut 234, the fixed bracket 230, and the worm wheel 242. The distance between the second pivot pin 236 and the third pivot pin 232 along the actuation strut 234 is the same as the distance between the first pivot pin 216 and the second pivot pin 236.

The arrangement is a Scott Russell linkage, which is a straight line mechanism. When the motor 250 actuates the worm 240 to move, this causes rotation of the worm wheel 242. The third pivot pin 232 transmits this rotation to the actuation strut 243, which then pivots relative to the fixed bracket 230. The other end of the actuation strut 234 must then pivot around the second pivot pin 236, which is attached at an intermediate point along the length of the finger 212. The finger 212 pivots around the first pivot pin 216, causing the moving bracket 214 to move along the linear rail 220. In this manner, the end effector 210a is moved in a straight path in a direction perpendicular to the plane of the frame 32 (the z-direction). An end-stop 222 is located between the end of the linear rail 220 and the fixed bracket 230 and limits the range of motion. The end-stop 222 prevents the moving bracket 214 moving beyond a first end of the linear rail 220 (the end adjacent to the fixed bracket 230). It also acts as a stop for the reverse/negative z-movement of the finger 212 (movement away from a user’s back), preventing the moving bracket 214 moving beyond the other end of the linear rail 220. The z-range of motion is configured to allow the end effector 21 Oa to contact the user at any x and y position on their back or neck.

The hand linkage mechanism does not protrude in the negative z-direction; that is, the mechanism is accommodated on the top-facing surface of the x-carriage 130, 140 (the top-facing surface being that on the end-effector side). As such, the mechanism does not interfere with the x-y rail system 100 below. Furthermore, the hand 200 overhangs the x-rail 122 so that the end effectors on both of the x-carriages 130 and 140 can be moved to the same y position without clashing. Additionally, the end effectors are positioned on the corners of the hands, which enables close contact between end effectors on two sides of the hands.

Figure 3 shows a ball-shaped end effector 210a, which is designed to mimic the finger or thumb of a massage therapist. Other end effectors can be used which mimic the palm of a hand, a fist, an elbow etc. The end effectors can preferably be attached, detached and reattached, so that the system can change between different end effectors.

End effector changing mechanism of the first embodiment

In order to change between different end effectors, there may be provided an end effector changing mechanism. Figure 4 illustrates components of a first exemplary embodiment of such a system and shows an enlarged view of one hand 200 ready to receive an end effector. In general terms, the end effector changing mechanism provides a number of holsters for different end effectors (specifically in the form of spigots on which the end effectors may be mounted).

A wheel 300 is attached to one end of each of the x-rails 122 and 126 (note the area shown in Figure 4 only includes one wheel, which is attached to the first x-rail 122). Each wheel 300 is attached to the x-rail 122,126 at the opposite end to the motors 132, 142. Each wheel 300 has an internal gear which interfaces with a spur gear attached to a drive motor, which is itself attached to the wheel bracket. In this manner, the motor can drive the wheel 300 to rotate. Figures 5a, 5b and 6 illustrate the wheel in further detail. The wheel 300 is formed as first inner disc 320 and a second outer ring 330. The outer ring 330 extends to a diameter greater than the inner disc 320 and is displaced from it by a small distance parallel to the axis 350. The inner disc 320 and outer ring 330 are connected by struts 325. The inner disc 320 comprises internal gear teeth 340 running around the edge and facing towards the axis 350 of the wheel 300. The wheel 300 is mounted to the x-rails 122 and 126 via a mount 360, which contains the motor (see Figures 8a and 8b). The mount 360 is attached to an x-rail 122 or 126 and remains stationary relative to it. The wheel 300 rotates around the pivot 350 relative to the mount 360. The mount 360 comprises a spur gear 342 which engages with the internal gear teeth 340. The mount 360 further comprises a bracket dowel 344, which is located directly across from the motor shaft, such that the bracket dowel 344 and the motor shaft both approximately lie on a line passing through the pivot point 350 of the wheel 300. An internal face of the wheel 300 retains contact with the end of motor shaft and the bracket dowel 344; this may assist in counteracting any moments perpendicular to the face of the wheel 300, preventing the wheel from pitching.

The outer disc 330 comprises a series of evenly spaced holes 312, into which wheel spigots 310 can be connected. In a preferable embodiment, as displayed in Figure 6, there are 18 holes 312 around the outer ring 330, and in 6 of the holes there is positioned a wheel spigot 310. Figures 5a and 5b illustrates a wheel spigot 310 connected to the wheel 300 through a hole 312. Figures 7a and 7b show the wheel spigots 310 in greater detail. Each wheel spigot 310 comprises a thread end 314 which passes through the holes 312 of the wheel 300 (thereby allowing the spigots to be connected by use of a threaded nut). At the opposite end of the wheel spigot 310 is a connection mechanism for reversibly mounting end effectors. This includes a wheel spigot pin 318, which extends from the end of the wheel spigot 310 perpendicular to its length. The wheel spigot pin 318 is biased away from the wheel spigot 310. End effectors are illustrated in Figures 12a and 12b. To attach an end effector to the wheel, a wheel spigot 310 enters a corresponding channel 290 in the end effector. The wheel spigot pin 318 extends into a hole 292 within the channel 290 to secure the end effector to the wheel spigot 310. The contact angle between the wheel spigot pin 318 and the hole 292 is such that when a force is applied to the end effector perpendicular to the length of the wheel spigot pin 318 (in the x- direction), a component of the force is applied in the direction opposite to the biasing of wheel spigot pin 318, causing it to compress. (Note the channel 290 is obscured in Figure 12b but can be seen in Figures 14c and 14d. The hole 292 can be seen in Figure 12b.) Figures 5a and 5b show the wheel spigot 310 attached to the wheel 300: in Figure 5a there is no end effector attached to the wheel spigot 310, while in Figure 5b an end effector 210b has been attached. A selection of end effectors can be attached to the wheel spigots 310 around the wheel 300. The wheel 300 can be rotated such that the desired end effector is aligned with the hand 200 on the x-carriage 130.

An end effector can also be attached to the finger 212 of the hand 200. Each finger 212 comprises a finger spigot 260 which extends from its free end (the end distal to that connected to the moving bracket 214). Figure 9a shows a finger 212 ready to receive an end effector, while Figure 9b shows the finger 212 after an end effector 210b has been attached to the finger spigot 260.

The finger spigot 260 is shown in greater detail in Figures 10, 11 a and 11 b. The finger spigot 260 extends from the free end of the finger 212. A lip 268 surrounds the outermost face of the finger spigot 260 (the face distal to the connection to the finger 212) and a finger spigot pin 264 extends from this free end (the end opposite to the connecting point with the finger 212) in a direction parallel to the length of both the finger 212 and finger spigot 260. The finger spigot pin 264 is connected to a latching solenoid 262, which is positioned within the finger 212. A return spring 266 is provided to bias the pin 264 in an extended configuration. The pin 264 is retracted by powering the solenoid 262 on. A permanent magnet in the solenoid 262 overcomes the spring force, holding the pin 264 retracted when the solenoid is turned off. The pin 264 can be extended again by powering on the solenoid 262 with a reversed polarity. Due to the presence of the spring 266, the pin 264 is in an extended configuration when the solenoid 262 is powered off. The end effector 210a, as illustrated in Figures 12a and 12b, has a channel 270 corresponding to the shape of the finger spigot 260. The channel 270 includes grooves 272 corresponding to the lip 268 of the finger spigot 260. The end effector 210a is can be slid onto the finger spigot 260 along these grooves 272, in a direction perpendicular to the long axis of the finger 212 and finger spigot 260. Within the channel 270 there is a hole 274 into which the finger spigot pin 264 can be accommodated, to secure the end effector 210a to the finger 212. The connected arrangement is shown in Figure 13. The channel 270 for securing the finger spigot 260 is on the opposite side of the end effector 210a to the channel 290 for securing the wheel spigot 310. The grooves 272 run parallel to channel 290 for the wheel spigot 310, such that the finger spigot 260 is attached to the end effector 310a in an orientation 90 degrees to the wheel spigot 310. As such, the hole 274 for accommodating the finger spigot pin 264 is parallel to the hole 292 for accommodating the wheel spigot pin 318.

Figures 14a to 14d show different perspective views of the hand 200 with the end effector 210a attached, and Figures 15a, 15b and 15c illustrate the interaction of the hand 200 on the x-carriage 130 with the end effector changing mechanism during pick-up and drop-off of an end effector. The hand 200 is configured to interact with the end effector changing mechanism when in a fully retracted position (such that the end effector 210a is adjacent the carriage 130), thereby to reduce the necessary size of the wheel 300.

In order to attach an end effector, the system first rotates the wheel 300 to the correct orientation such that the wheel spigot 310 carrying the chosen end effector 310a is aligned with the finger spigot 260 on the hand 200 when the hand is in a fully retracted position. The finger 212 of the hand 200 is lowered to be parallel to the surface of the x-carriage and the solenoid 262 of the finger 212 is powered on to retract the finger spigot pin 264. The x-carriage 130 itself is driven to the wheel end of the x-rail 122 (as shown in Figures 15a to c) so that the finger spigot 260 enters the corresponding channel 270 on the end effector 210a. Once the finger spigot 260 is located within the channel 270, the polarity of the solenoid 262 is reversed so that the finger spigot pin 264 extends out and into the hole 274. The x-carriage 130 is then driven back along the x-rail such that it moves away from the wheel 300. Due to the angle of contact between the wheel spigot pin 318 and the channel 292 within which it is located, this motion exerts a force in the y-direction on the wheel spigot pin 318, which causes it to retract. The end effector 210a slides off the wheel spigot 310, while remaining attached to the finger spigot 260. The engagement of the finger spigot pin 264 ensures that the end effector 210a remains securely attached to the finger spigot 260.

In order to remove an end effector, again the system first rotates the wheel 300 to the correct orientation such that an empty wheel spigot 310 is aligned with the finger spigot 260 of the hand 200. (The wheel may already be in the correct orientation from the pick-up of the end effector.) Again, the finger 212 of the hand 200 is lowered to be parallel to the surface of the x-carriage 130. The x-carriage 130 is driven along the x-rail 122 to the wheel end. The wheel spigot 310 enters the corresponding channel 290 on the end effector 210a, and the wheel spigot pin 318 engages with the hole 292 within the channel 290. The solenoid 262 is engaged to retract the finger spigot pin 264 so that it is flush with the end of the finger spigot 264. The x-carriage 130 is then driven back along the x-rail 122, away from the wheel 300. As the finger spigot pin 264 is no longer extended and engaged in the hole 274, the finger spigot 260 slides out of the channel 270, disconnecting the end effector 210a.

The motor shaft and the bracket dowel 344 of the mount 360 both contact the inner surface of the inner disc 320. As the motor shaft — and the bracket dowel 344 are approximately located on a line passing through the pivot point 350 (preferably at equidistant points from the pivot point 350), they may prevent any moments perpendicular to the face of the wheel during the pick-up or drop-off procedures. This may prevent pitching of the wheel which would result in force between the wheel spigot 310 and channel 290, and finger spigot 260 and channel 270, which could adversely affect the picking up and dropping off of an end effector. In particular, the bracket dowel 344 is preferably located in the vicinity of the position of the end effector to be picked-up or dropped-off (the angular positions of both with respect to the circle of the wheel 300 being the same or at least very similar).

Control system

In use, the hands 200 are moved to x-y positions using an x-y rail system of one of the embodiments as described above or below. The end effectors 210a, 210b, 1210a, 1210b, 2210a, 2210b are moved in the z direction using a hand mechanism 200 as also described. As such, a system according to the present invention executes free motion in the x-, y- and z-directions upon communication with a controller device. The controller device is typically wirelessly connected to the apparatus, for example via short distance ultra-high frequency radio waves such as Bluetooth®. The system may be controlled by a user using an external controller or via a mobile phone application. Pre-programmed massage routines are constituted of a sequence of x-, y- and z-coordinates of each of the end effectors, in combination with the changeover of different end effectors. In this manner, the system can be programmed to mimic the massage routines of a massage therapist. For example, a first end effector (such as the ball end effector 210a as shown in Figures 12a and 12b) applies pressure in circular motions mimicking the fingers of a massage therapist. This is then followed or accompanied by the long strokes of a second end effector, mimicking the palm of a massage therapist. These pre-programmed massage routines can be saved on a central server to which the controller is connected, or on the controller itself. When a user selects a particular routine, the controller then sends instructions to the apparatus to execute this routine. The user may be able to customize the routine via a choice of settings such as pressure or vibrations.

The dimensions of the routine can be customized according to the size and/or shape of the user’s back, neck and head. The x-, y- and/or z-values can be scaled appropriately. The x- and y-values can be used to scale the range of motion of the routine in the x-y plane. The z-values can be used to scale the range of z-motion during the routine. Data on the size of the user, which is used to inform the scaling of the massage routine, can be provided manually; for example, by a user indicating the location of their shoulder blades on or with a controller or via the mobile phone application. The feedback may also take place via an automatic calibration process. The control system can initialize settings for each individual user by performing contour mapping of the back of each individual user. This enables more accurate pressure profiles to be achieved as actuation of the hand (and therefore end effector) in the z-direction can be calibrated to the topography of each individual user’s back and neck. Figures 16, 17a and 17b show the contour mapping end effector 210c which is attached to the hand 200 to perform the contour mapping. The contour mapping end effector 210c comprises a block 204 which is engaged with the finger spigot 260. At the free, outermost end of the block 204 a curved head 206 is connected, which wraps around block 204. The curved head 206 is connected at the end of the block 204 via two pins, on which it can slide such that the curved head 206 is free to move in the z-direction. A spring biases the curved head 206 in the extended position on the two pins. The pins are at an angle roughly 45 degrees relative to the finger 212, so that when the finger 212 is midway in its travel, the pins are aligned perpendicular to the user; this can aid in minimizing the sliding friction. A contact switch 208 is provided directly below the free end of the curved head 206. As such, when the contour mapping end effector 210c is moved into contact with a user’s back, the curved head 206 makes contact first. As the contour mapping end effector 210c is moved further towards to the user’s back, the curved head 206 is pushed by the contact with the user’s back towards the contact switch 208 until it makes contact with the switch 208. The switch sends a signal to the controller, and the system records the z-value at which the switch 208 is contacted in that particular location. Once the curved head 206 is no longer in contact with the user’s back, the curved head returns to the extended position due to the biasing spring.

To perform a calibration, the user first positions their back on the massage chair 10 such that their spine is in contact with the ridge 14. In this way, the ridge 14 acts as a positioning marker. Next, the user correctly positions the headrest. The headrest sends positional feedback to the controller, from which the system can estimate the y-range of the user’s neck and back. The system may then prompt the user to indicate the location of their shoulder blades, as described above. The system can estimate the x-range of the user’s back from this information. The user inputs to the controller to initiate the calibration protocol. The controller instructs the system to change the end effector to the contour mapping end effector 210c. This is achieved by the end effector changing mechanism as described previously. The controller then instructs the x-y rails system to move the hand to the first sensing position in the x-y plane, and performs measurement of the z- value as described above. Once this measurement has been taken, the hand is retracted in the z-direction and moved to the next position in the x-y plane. Figure 18 shows an example map of the points at which the measurements are taken. From this pattern, the controller can calculate the contours of each user’s back through interpolation. The result of this calibration (i.e. the contour map of the user’s back) is saved to the system so that calibration only needs to be performed once for each user (although regular recalibrations may be performed so as to account for e.g. the user gaining or losing weight). The calibration settings for each user may be saved to a central database so that a user can log into the system at any massage chair of this kind in the world and load their personalized settings.

X-y rail system of a second embodiment Figure 19 shows an alternative x-y rail system 1100. This comprises a frame 1032 having four connected sides, in turn connected to a base 1034, such that it forms a planar box structure 1033 (i.e., a cuboid with one side open). Two of the sides are parallel and run along the y-axis as defined above in relation to the previous embodiment, which is intended to correspond to the length of a user’s back (also referred to as the vertical direction). The other two sides run along the x-axis, as defined for the previous embodiment (the horizontal direction of a user or user’s back). The sides of the frame 1032 therefore define a plane which defines the massage area, as described in the previous embodiment. The internal dimensions of the frame 1032 (and hence the box 1033) which define the massage area is sufficient to allow end effectors to reach the user’s entire back and neck (potentially glutes and thighs too). The y-direction is defined as that configured to run approximately parallel to a user’s spine, while the x-direction runs perpendicular to this in the plane of the user’s back. The z-direction runs perpendicular to the plane of the user’s back. The two sides running parallel to the y-direction form two y-rails 1110-1 and 1110-2, comprising rail guides 1120 and gear racks 1125. Two x-rails 1122 and 1124 run parallel to the x-direction, between the two y-rails 1110-1 and 1110-2. On each x-rail 1122 and 1124 there is provided a carriage 1130 and 1140, which carries a hand mechanism 1200 comprising an end effector 1210a, 1210b. The x-rails 1122 and 1124 are able to move in the y-direction of the plane of the frame 1032. The carriages 1130 and 1140 are able to move along the x-rails 1122 and 1124 in the x-direction of the plane of the frame 1032. The end effectors are configured to move along the z- direction perpendicular to the plane of the frame 1032. By this arrangement, the end effectors can be moved in three dimensions independently, to perform massage routines. The top surface of the base 1034 of the box

1033 has a smooth surface. This is configured to allow the x-rails 1122 and 1124 and the carriages 1130 and 1140 to move smoothly to any required position within the massage area. The bottom surface of the base

1034 of the box 1033 is also reinforced to withstand the loading from the x-rails 1122 and 1124 and carriages 1130 and 1140.

Movement in the y-direction is achieved by the x-rails 1122 and 1124 moving along the y-rails 1110-1 and 1110-2. This is achieved via a rack and pinion mechanism. Each y-rail 1110-1 and 1110-2 comprises a gear rack 1125, which runs the length of the rail in the y-direction. Each x-rail 1122 and 1124 comprises y-pinions 1158-1 and 1158-1 , one located at each end, which engage with the gear racks 1125-1 and 1125-2 on the two y-rails. Figure 20a shows one of the x-rails 1122, and Figure 20b shows the x-rail 1122 with the casing removed. As can be seen from Figure 20b, the two pinions 1158-1 and 1158-2 are connected by a shaft 1156, which runs along the length of the x-rail 1122, within the casing. This is to keep the two pinions 1158-1 and 1158-2 aligned at the same y-value, so that one end does not advance more quickly along the y-direction than the other (known as ‘rail crabbing’). The ensures the x-rail 1122 remains perpendicular to the y-rails 1110-1 and 1110-2 at all times. The y-motor 1150 is provided within the x-rail 1122, as illustrated in Figure 20b. The y-motor 1150 is located centrally on the shaft of the x-rail, where it effects motion of a first y-spur gear 1152, which engages with a second y-spur gear 1154, which is provided on the shaft 1156 connecting the pinions 1158-1 and 1158-2. Via this arrangement, the y-motor 1150 effects rotation of the pinions 1158-1 and 1158-2 along the gear rack 1125, which causes the x-rail 1122 to move in the y direction. Each x-rail 1122, 1124 comprises two feet 1160 at either end, so that the x-rail 1122 has two points of contact with the rail guides 1120 on each of the y-rails 1110-1 and 1110-2 and the base 1034 of the box 1033. This can assist in stabilizing the x-rail 1122, 1124 relative to the y-rails 1110-1 and 1110-2. This can also assist in preventing rail jamming due to deformation of the box 1033 resulting from external loads. The base 1034 of the box 1033 and the rail guides 1120 also constrain the feet 1160 in the z-direction and the x-direction to ensure stability of the structure.

Movement in the x-direction is achieved by movement of the carriages 1130 and 1140 along the respective x- rail 1122 and 1124. As shown in Figure 19, each carriage 1130, 1140 is mounted on the side of the respective x-rail 1122, 1124. The two carriages 1130 and 1140 are therefore situated in the space between the two x-rails 1122 and 1124. This enables the two end effectors 1210a and 1210b to be positioned side by side at the same y value. As described in relation to the previous embodiment, this can mimic a massage therapist placing their hands/thumbs at the same height on the user’s back.

The x-motor 1132 is also provided within the x-rail 1122. This is located at one end of the x-rail 1122, and a shaft extends outwards from the end of the x-motor 1132. The shaft is connected to a spur gear train 1134, which transmits rotation to the x-leadscrew 1126a. The x-leadscrews 1126a, 1126b extend along the length of each respective x-rail 1122, 1124. Brackets (not shown) may be provided attached to front faces of rails 1122, 1124, which act to axially constrain the x-leadscrews 1126a, 1126b. The brackets are provided on the end effector close contact side of the rail, to avoid reducing the x-travel of the carriage 1130, 1140. Figure 21 shows a close-up view of the interaction of the carriage 1130 and the x-rail 1122. The carriage comprises a leadscrew nut 1136, through which the x-leadscrew 1126a is threaded. As the x-leadscrew 1126a rotates, the leadscrew nut 1136 is moved in the x-direction, taking the carriage 1130 with it.

The three gear motors for the three directions of movement for an end effector 1210a, namely the x-motor 1132, the y-motor 1150 and the z-motor 1250 are all located within the relevant x-rail 1122. This is configured to minimize the space occupied in the z-direction. They are also preferably oriented parallel to the length of the x-rail 1122, so as to minimize the space occupied in the z-direction even further. For ease of assembly, all three motors 1132, 1150 and 1250 may be mounted onto a tray, which can be slid into and out of the casing of the x-rail 1122. The casing of the x-rail 1122 may be a closed section extrusion. Both these features are advantageous for facilitating high-volume manufacture. Optionally, the gearmotors may be encapsulated with a high mass, low stiffness thermal interface material which reduces vibration transmission through to the rail structure (not shown). Further optionally, metallic interfaces may be provided through cut-outs in the top and bottom surfaces of the x-rail casing, to allow heat transfer from the thermal interface material to thermal dissipation foil on the outside of the rail structure. Also optionally, rail end caps may be provided to seal off the ends of the x-rails to prevent direct air path between gearmotors and user, impeding the transmission of sound to the user.

The casing of the x-rail 1122 may comprise cut-out portions on the top and/or bottom portions to maintain bending stiffness about the y-axis, whilst providing the x-rail with torsional compliance to account for box deformation and therefore y-rail deformation or misalignment. By providing the pinion shaft 1156 within the casing, this also ensures that the shaft does not interrupt the closed section of the casing, and thereby more precise control of the torsional rigidity (via the cut-out portions) can be achieved.

By providing the x- and y-rails in the same plane, the second embodiment further minimizes the height of the rail system in z-direction. A small form factor of the system can enable the system to be integrated into the structure of chairs more easily. It can be provided as a separate structure which can be retrofitted to chairs or seats, or it may be integrated into a chair structure. It may be used in hairs such as aircraft seats, office chairs, car seats, armchairs, salon chairs etc. As the z-dimension of the x-y rail is small (preferably between 4 and 10 cm, more preferably between 5 and 7 cm, and most preferably approximately 6 cm), the end effector may be retracted such that the chair can be used normally and/or used for massage.

‘Hand’ mechanism of the second embodiment

Figures 22a and 22b show the ‘hand’ 1200 of the second embodiment which is carried on carriage 1130. As noted above, the term ‘hand’ refers to the mechanism which effects movement of the end effector 1210a and is so-called as it is analogous to the hand of a massage therapist. The hand 1200 facilitates free movement of the end effector 1210a in the z-direction (the direction perpendicular to the x-y plane of the frame 32, or towards/away from a user’s back in use). The end effector 1210a exerts and varies pressure on the user’s back, through the mesh 30, to perform a massage. The z position of the end effector allows contact with a user’s back when the hand mechanism 1200 is approximately in the middle of its actuation range.

The hand 1200 of this second embodiment comprises a housing 1201 for securing the hand 1200 to the x-rail on which the hand is mounted, and for housing the components of the hand. The housing 1201 is mounted to the x-rail by a recessed groove 1202 of the housing 1021 which is arranged to receive a track 1203 of the x-rail, the track running along the length of each x-rail 1122, 1124 (in the x-direction). In this way, the track 1203 guides movement of the hand 1200 along the x-rail in the x-direction. The housing 1201 also comprises openings 1204a for receiving the x-leadscrew 1126a. Figure 23 shows the mechanism of the hand 1200 without the housing 1201.

As shown in Figure 20b, a z-motor 1250 is mounted within the x-rail 1122, 1124 at the opposite end of the rail to the x-motor 1132. The shaft of the z-motor 1250 extends outwards from the end of the z-motor and is connected to a spur gear train 1252 which transmits rotation to a splined shaft 1128a. The splined shaft 1128a extends along the length of each respective x-rail 1122, 1124 and is received through openings 1204b in the housing 1201 of the hand 1200. The housing 1201 transmits vertical force (i.e. in the z-direction) directly to the box 1033 structure via at least one contact area 1201 a at the bottom of the housing, which are located approximately in line with the end effector head in terms of y-position. In an alternative embodiment, the housing may be fully supported by the x-rail.

The splined shaft 1128a is vertically spaced (i.e. in the z direction) from the x-leadscrew shaft 1126a, but the two shafts are aligned in the y-direction so as to minimize the extent of the x-rail in the y-direction. Similarly, the splined shaft 1128a is located below the x-leadscrew shaft 1126a (in the z direction) rather than vice versa so as to minimize the extent of the x-rail in the z-direction (as this provides a greater range of movement for the end effector 1210a actuation mechanism).

The splined shaft 1128a, which is rotated by z-motor 1250, is arranged to transfer rotation to a z-leadscrew 1240 via a pair of bevel gears 1242a, 1424b. The bevel gear 1424b has a splined interior such that it can move along the longitudinal direction of the splined shaft (i.e. along with the carriage 1130) but can only rotate with the splined shaft. In this way, rotational movement of the shaft is transferred to the bevel gear by the cooperating splined exterior of the shaft and splined interior of the bevel gear. A leadscrew nut 1205 is located on the z-leadscrew 1240 such that rotation of the z-leadscrew 1240 (by the z-motor, via the splined shaft and bevel gears) drives the leadscrew nut 1205 along the z-leadscrew 1240. The z-leadscrew 1240 is coupled to a strut of a Scott-Russell linkage, which in turn is coupled to the end effector 1210a via a pivot pin, as described below, such that movement of the leadscrew nut 1205 along the z-leadscrew 1240 drive movement of the end effector 1210a in the z-direction. It should be understood that the leadscrew mechanism for actuating the Scott-Russell linkage in this embodiment could equally be replaced by the worm mechanism of the first embodiment.

Flanges may be provided to constrain the splined shaft 1128a on the carriage to minimize the unsupported length around the point of loading, as effected by the z-leadscrew 1240. Alternatively, the load from the z- leadscrew 1240 may be supported by an alternative supporting structure that allows pivoting of the z- leadscrew 1240 about the centre of the splined shaft 1128a.

The Scott-Russell linkage in this second embodiment comprises a primary strut 1212 which is coupled, at one end, to the end effector 1210a and, at the other end, to a moving bracket 1214 (as shown in Figure 23) via a first pivot pin 1216. The pivot pin 1216 runs through the primary strut 1212 and enables the strut to be rotated relative to the bracket 1214. The moving bracket 1214 is configured to run in a direction parallel to the y-direction of the frame 1032, for example in the same way as the moving bracket 214 of the first embodiment. This arrangement allows the moving bracket 1214 to move backwards and forwards along the y-direction. A second pivot pin 1236 passes through the primary strut 1212 at a position halfway between the first pivot pin 1216 and the coupling point of the end effector 1210a to the strut 1212. The second pivot pin 1216 connects the primary strut 1212 to a secondary strut 1234. The secondary strut 1234 is fixed in position at one end to the housing 1201 , and at the other end to the leadscrew 1205. In this example, the second pivot pin 1236 is located between the connection to the leadscrew 1205 and the fixed end, forming a second- class lever, however in other examples the leadscrew 1205 may be attached between the second pivot pin 1236 and the fixed end, forming a third-class lever. A third pivot pin 1232 fixes the secondary strut 1234 at its fixed end to the housing 1201 .

In use, this Scott-Russell linkage transfers rotational movement from the z-leadscrew 1240 into vertical movement (i.e., in the z-direction) of the end effector 1210a. When the z-motor 1250 rotates the splined shaft 1128a, which in turn rotates the z-leadscrew 1240 via the bevel gears 1242a, 1242b, the leadscrew nut 1205 is moved along the z-leadscrew 1240, either towards the free end of the leadscrew or towards the base of the leadscrew. As the leadscrew nut 1205 is connected to the secondary strut 1234 of the Scott-Russell linkage, movement of the leadscrew nut 1205 actuates the secondary strut 1234 such that it pivots about the third pivot pin 1232 at its fixed end. This actuation of the secondary strut 1234 causes the moving bracket 1214 to move linearly in the y-direction. In this way, the primary strut 1212 pivots about the first pivot pin 1216 causing the end effector 1210a to move in a straight path in a direction perpendicular to the plane of the frame 32 (the z-direction). An end-stop may be provided to limit the range of motion which in turn prevents the range of movement of the leadscrew nut 1205 on the leadscrew 1240.

In this second embodiment, the linkage for powering movement of the end effector 1210a is a four-bar linkage, formed by: the primary strut 1212; a follower strut 1207; the moving bracket 1214 connected between the primary strut 1212 and the follower strut 1207 at their lower ends; and a platform 1208 connected between the primary strut 1212 and the follower strut 1207 at their upper ends. The platform 1208 is connected to the pivot pin 1209 which joins the end effector 1210a to the upper end of the primary strut 1212. Therefore, in use, when the primary strut 1212 is actuated, the follower strut 1207 also moves such that it stays parallel to the primary strut 1212, and the platform 1207 - which is connected between the ends of the two struts - maintains a parallel orientation relative to the x-y plane. In this way, the platform rotates the pivot pin 1209 to compensate for movement of the primary strut so as to maintain the end effector 1210a in a fixed orientation relative to the x-y plane (and thus relative to a user’s back).

Figures 24a to 24c show yet another embodiment of the carriage 1130 and hand 1200. This embodiment differs from the embodiment described above with reference to Figures 22a to 23 primarily in that the splined shaft 1128a is positioned above the leadscrew shaft 1126a in the z-direction. This arrangement maximizes the clearance between the end effector head 1210a and the top of the z-leadscrew 1240. The layout of the primary strut, secondary strut, following strut is broadly the same, and their functions are as described above.

End effector changing mechanism of the second embodiment

In the second embodiment, a single end effector head is positioned on the finger and is rotated to achieve different effects. Figure 25 shows an exemplary embodiment of the end effector head 1210a of the second embodiment. The end effector head 1210a has four distinct surfaces or portions 1210a-1 , 1210a-2, 1210a-3, 1210a-4, which have different qualities. In the example shown in Figure 25, the first two surfaces 1210a-1 and 1210-2 are hemispheres with different radii. The larger surface 1210a-1 may be used to mimic the flat palm of a massage therapist, while the smaller surface 1210a-2 may be used to mimic the portion of the palm adjacent the thumb, or the side of the palm. The smaller surfaces 1210a-3 and 1210a-4 may be used to mimic the thumb and fingers of a massage therapist respectively. Alternative surfaces may be provided having different shapes or being formed of different materials so as to produce a different effect during a massage routine. A different quantity of surfaces may also be provided, for example three or five.

The surfaces 1210a-1 to 1210a-4 are positioned around the end effector head 1210a-1 at equal angles around a pivot axis. Along the pivot axis runs a slot 1260, into which a pin (not shown) is passed to secure the end effector head 1210a on the hand 1200. Figures 21 and 22a show the end effector head 1210a positioned on the hand 1200. The exemplary embodiment uses a Geneva drive mechanism to rotate the end effector head 1210a. The Geneva drive mechanism has one degree of freedom (rotation) and rotates the end effector head 1210a in increments and intermittently. The increments correspond to the number of surfaces, so that each surface can be held securely in position facing along the z-direction such that it can engage with the back of a user. The Geneva drive mechanism is mounted on the four-bar linkage mechanism so that the end effector surface remains in a fixed orientation relative to the x-y plane (and so the user’s back) over the whole range of z- motion. In the illustrated embodiment, the Geneva drive mechanism can rotate in four equal increments, so rotates by 90 degrees around the axis with each movement. In order to achieve this, four separators 1262 are provided on the end effector head 1210a positioned around the slot 1260 (i.e. the pivot axis). This arrangement can be seen in Figure 25. The separators 1262 are protrusions from the surface, which have two perpendicular sides (both at 90 degrees to and adjacent the pivot axis). The side of each separator 1262 radially distal from the pivot axis is shaped as an arc. This arc has the same radius of curvature as a circular disc 1268 provided on the Geneva drive mechanism gear on the four-bar linkage (a portion of the circular disc 1268 can be seen in Figures 21 and 22a). The arc of each separator 1262 is configured to accommodate the edge of the circular disc 1268, such that when the circular disc 1268 is rotated it passes through the arc of the separator 1262, while the separator 1262 (and hence the end effector head 1210a) remains static. Between the separators 1262 are provided four grooves 1264, which run radially away from the slot 1260 (i.e. the pivot axis). This is configured to accommodate a corresponding pin (not shown) on the Geneva drive mechanism gear on the four-bar linkage. As the Geneva drive mechanism gear rotates, the pin enters a groove 1264 and provides an engagement between the gear and the end effector head 1210a. Once this engagement has been made, the end effector head rotates when the Geneva drive mechanism gear rotates. This rotation moves the end effector head 1210a through 90 degrees. As the Geneva drive mechanism gear rotates beyond 90 degrees, the pin exits the groove 1264, and the end effector head 1210a remains static. The next surface 1210a-2 will then be in the effector position, configured to engage with a user’s back. If a different number of end effector surfaces were provided, then the angle would be an appropriate fraction of 360 degrees. For example, if three surfaces were provided, each rotation increment would be 120 degrees and three separators would be used, but the mechanism by which rotation is achieved would be the same.

The Geneva drive mechanism is powered by a servomotor 1266, which is mounted directly onto the four-bar linkage mechanism. This is possible as it does not require much torque and therefore a small servomotor can be used. The servomotor 1266 may be connected to a controller via a wired or wireless connection, which can send instructions to activate the Geneva drive mechanism to effect changeover of the end effector surface 1210a-1 to 1210a-4.

The same control system as described above may be used for the second embodiment as for the first embodiment. The contour mapping end effector 210c may be provided as one surface on the end effector head, or as a separate end effector, which can be placed on the carriage either directly (for example, manually) or using a wheel mechanism as described for the first embodiment.

Chair arrangement of a third embodiment Figures 26 to 31 show a further exemplary embodiment of an arrangement of a massage chair device 2010. Whereas the embodiment as shown in Figure 1 provides a generally planar massage area, the embodiment as shown in Figure 26 is formed as a multi-section chair structure, comprising a first box section providing a seat base section 2044 and a second box section providing a back section 2042, which can be configured at an angle to one another. As described previously, the ‘box’ sections comprise a frame and a generally planar base, and the internal dimensions of the combined and connected box sections define the area over which the massage end effectors can operate.

The relative angle between the seat base section 2044 and the back section 2042 of the massage chair device 2010 can be adjusted between two different states (having different relative angles). For example, the device 2010 may be configured to be moveable between a ‘seated’ configuration, as shown in Figures 26, 27a and 27b, and a ‘flat’ configuration, as shown in Figures 28a and 28b. As illustrated in Figure 27a, the ‘seated’ configuration may comprise the seat base section 2044 being arranged approximately parallel to the floor (i.e. in a horizontal orientation) to receive a user’s legs. The back section 2042 may be at a relative angle to the seat base 2044 of approximately 120° to receive a user’s back (preferably between 90° and 135°, more preferably between 100° and 130°). The device 2010 therefore has an arrangement similar to a normal chair. It should be understood that the device could be implemented as a standalone massage chair, or implemented in salon chairs, office chairs etc. As illustrated in Figures 28a and 28b, in the ‘flat’ configuration the seat base 2044 and the back section 2042 are configured in a planar and linear configuration adjacent to one another, thereby forming a continuous flat massage device akin to a massage table. However, the two configurations between which the device can alternate may be defined to be any two angles (for example upright and partially reclined chair arrangements).

Between the seat back section 2042 and the seat base section 2044, there is provided a further section in the form of a curved central section 2056. In the configuration in which there is a smaller angle between the seat back 2042 and seat base 2046 (which will hereafter be referred to as the ‘upright’ configuration, although it should be appreciated it could take alternative angle values), one end of the curved central section 2056 interfaces with and connects to the seat back section 2042 and the other end interfaces with and connects to the seat base section 2044. Thus, the curved central section 2056 forms a curved connector between the seat back section 2042 and the seat base section 2044, such that the three sections form a continuous curved seat frame (and a continuous curved box).

In the configuration in which there is a larger angle between the seat back 2042 and seat base 2046 (which will hereafter be referred to as the ‘flat’ configuration, although it should be appreciated it could take alternative angle values), the central curved section 2056 is moved away from the seat back 2042 and the seat base 2046, such that the ends which were previously in connection with the central curved section 2056 (in the ‘upright’ configuration) come into connection with one another. The seat back 2042 and seat base 2046 thus form a continuous flat frame (and continuous flat box).

The curved central section 2056 is connected to a adjustment mechanism 2050, which facilitates reconfiguration between the upright and flat configurations. The adjustment mechanism 2050 is formed as a four-bar linkage mechanism, with a first support structure 2052 of the seat back 2042 forming a first of the linkages, a second support structure 2054 of the seat base 2046 forming a second of the linkages, and a first linkage bar 2058a and a second linkage bar 2058b forming the third and fourth linkages.

The first support structure 2052 extends from the back section 2042 and the second support structure 2054 extends from the base section 2044. Each of the support structures are configured to extend away from the plane of their respective section at an angle of approximately 30 degrees. The support structures 2052, 2054 are angled towards one another, and their distal ends (the ends furthest from the respective box section from which they extend) overlap to meet at a first pivot point 2072. A first pivot bar passes through the distal end of both the first support structure 2052 and second support structure 2054 forming a first pivot point 2072.

A guide rod 2060 is fixedly connected to the first pivot point 2072 and extends down away from the box sections, in a direction perpendicular to the plane of both sections. The guide rod 2060 passes through a channel in a guiding member 2062, which is fixedly provided on the central curved section 2056. A first end of the first linkage bar 2058a is rotatably connected to the first support structure 2052 of the back section 2042 at a second pivot point 2074. A first end of the second linkage bar 2058b is rotatably connected to the second support structure 2054 of the seat section 2044 at a third pivot point 2076. The opposite ends of both the first linkage bar 2058a and the second linkage bar 2058b are both rotatably connected to the guiding member 2062 via a fourth pivot point 2078.

A user can effect reconfiguration of the device from the upright configuration to the flat configuration, and vice versa, by moving the guiding member 2060 up and down along the guide rod 2060. The guide rod 2060 passes through the channel in the guiding member 2062 as the device 2010 is moved from the upright configuration to the flat configuration, and acts to control the angle of the central curved section 2056 during reconfiguration. Figures 27a and 27b show the seat in the upright configuration; in this configuration, a central portion of the guide rod 2060 is located within the channel of the guiding member 2062. Figures 28a and 28b show the seat in the flat configuration; in this configuration, the end of the guide rod 2060 is located within the channel of the guiding member 2062.

The sections are supported and raised from the ground by legs 2020. In the illustrated embodiment, the legs 2020 are in the form of triangular formations, with a base of the triangle sitting along the ground and the opposite vertex connectable to the seat. This leg configuration provides lightweight and compact support for the seat, but it should be understood that alternative configurations can also be used. In the illustrated embodiment, the legs are connected to the seat at the first pivot point 2072. The whole seat may be rotatable relative to the legs 2020 around this pivot point 2072. An example of the rotation of the seat is shown in Figure 30, in which the seat sections remain at an angle of approximately 120° relative to one another, but they have both been rotated relative to the ground.

The device 2010 further comprises a cover 2030 which extends over the frames 2092, 2094, 2096 of the box sections 2042, 2044, 2056. The cover 2030 is typically formed of a flexible material such as a fabric mesh, to provide a resilient and comfortable surface which can support the user and through which the massage end effectors 2110a, 2110b can apply pressure to a user. The frame 2092 of the seat back section 2042 and the frame 2094 of the seat base section 2044 both comprise cover supports 2048, which are small protrusions from the frame over which the cover 2030 is stretched and which support the cover 2030 at a small distance above the frame. The cover 2030 may be secured at a central point. It may optionally be secured such that the path length of the fabric between the nearest support point on the back section 2042 and nearest support point on the base section 2044 is equal to: the distance between the nearest support point on the back section 2042 and the pivot point 2072, added to the distance between the nearest support point on the base section 2044 and that same pivot point 2072. This arrangement would preclude the need for the fabric of the cover 2030 to change in length during reconfiguration (or only require a minimal change in length). The fabric of the cover 2030 may also be flexible and/or resilient such that it can adapt to the different configurations of the seat.

X-y rail system of a third embodiment

Figures 29 to 34 illustrate details of the x-y rail system of the third embodiment. The x-y rail system of the third embodiment has a similar arrangement to the x-rail system of the second embodiment, with modifications so as to enable the x-rails to move between different planes of different sections and to function correctly both in the instance that the central curved section 2056 is in place between the back section 2052 and the seat section 2054, and when it is not.

As illustrated in Figure 29b, the back section 2042 comprises a base 2082 surrounded on three edges by a frame 2092, forming a planar ‘box’ structure open on two sides. One of the open ‘sides’ defines the upper surface, parallel to the base 2082, over which the cover 2030 is stretched and configured to receive the back of a user. The other open side is the edge of the base 2082 adjacent to the curved section 2086. Similarly, the seat section 2044 comprises a planar base 2084 surrounded on three edges by a frame 2092. The open edge of the frame 2092 is located adjacent to the central curved portion 2056. As illustrated in Figure 29a, the central curved portion 2056 comprises a curved base 2086 flanked on the two opposite curved edges by frame parts 2096.

The bases 2082, 2084, 2086 of each of the sections 2042, 2044, 2056 are configured to engage to form a continuous surface in either the upright or flat configurations. For example, the base 2082 of the back section 2042 is configured to engage with the base 2086 of the curved section 2056 with a smooth, continuous interface when the chair 2010 is arranged in the upright configuration. In the upright configuration, the base 2084 of the seat section 2044 is also configured to form a smooth, continuous interface between with the base 2086 of the curved section 2056. Thus the three sections 2042, 2044, 2056 together form an overall smooth, continuous, curved base. The combined dimensions of the combined sections 2042, 2044, 2056 define the massage area over which the end effector can travel via the x-y rail system. As such, in the upright configuration, the massage area is defined as a curved seat spanning more than one plane. This is shown in Figure 31a, which illustrates the curved configuration of the x-y rail frame without the cover 2030 in position over the top surface. When moved to the flat configuration, the central curved section 2056 is moved down and away, and no longer forms part of the x-y rail system. In this configuration, the base 2082 of the back section 2042 forms a smooth continuous interface with the base 2084 of the seat section 2044. This results in a smooth, continuous, linear (flat) base to the device 2010. In this configuration, the massage area then becomes a single linear plane.

As in the second embodiment, the two sides of the frames 2092, 2094, 2096 of each section 2042, 2044, 2056 which run parallel to the y-direction form the y-rails 2110-1 and 2110-2. Each of the y-rails 2110-1 and 2110-2 comprise guide rails 2120a, 2120b, 2120c and gear racks 2140a, 2140b, 2140c to guide the movement of the x-rails 2122 and 2124 within the structure. The guide rails 2120a, 2120b, 2120c are configured to guide the movement of the x-rails 2122, 2124 and the gear racks 2140a, 2140b, 2140c form part of the drive mechanism for movement of the x-rails 2122, 2124 in the y-direction along the y-rails 2110-1 and 2110-2.

The guide rails 2120a, 2120b, 2120c of the back section 2042, seat section 2044 and central curved section 2056 are aligned such that they also engage to form a continuous guide rail in the upright or flat configurations. Similarly, the gear racks 2140a, 2140b, 2140c are aligned such that they form a continuous gear rack in the upright or flat configurations. Figure 31 b shows the interface between the seat section 2044 and the curved central section 2056 when the device 2010 is in the upright configuration. The guide rail 2120b and gear rack 2140b of the seat section 2044 each engage with the guide rail 2120c and gear rack 2140b, respectively, of the curved central section 2056 to form a continuous curved y-rail 2010-2. In the flat configuration, the guide rail 2120b and gear rack 2140b of the seat section 2044 each engage with the guide rail 2120a and gear rack 2140a, respectively, of the back section 2042 to form a continuous linear (flat) y-rail 2010-2. In this manner, continuous y-rails 2010-1 , 2010-2 are implemented in both the configurations of the device 2010 so that the x-rails 2122, 2124 can travel smoothly along and around the structures.

In the flat configuration, the end effectors 2110a, 2110b can travel throughout the x-y plane defined by the joined sections 2042, 2044, as described in respect of the second embodiment. In the upright configuration, however, the x-rails 2122, 2124 can move around the curve to move in different planes. The end effector can therefore be used to massage a user’s head, neck and back when located in the back section 2042, but can also be repositioned to massage a user’s glutes and thighs when located in the seat section 2044.

Figure 33b shows an x-rail 2122 with its outer casing removed. As is described in relation to the second embodiment, the x-rails 2122, 2124 of the third embodiment each comprise two y-pinions 2158-1 , 2158-2 at either side which are connected to one another by a shaft 2156 (which acts to keep both sides aligned at the same y-value). The y-motor 2150 is located centrally on the shaft of each x-rail 2122, 2124, where it drives rotation of a further y-spur gear 2152, which in turn drives rotation of the shaft 2156 and two y-pinions 2158- 1 , 2158-2 via engagement with a second y-spur gear 2154 located on the shaft 2156. The two y-pinions 2158-1 , 2158-2 engage further pinion gears 2159-1 , 2159-2 at each end of the x-rails 2122, 2124. The further pinion gears 2159-1 , 2159-2 engage with the gear racks 2140a, 2140b, 2140c of the y-rails 2010-1 , 2010-2 to move the x-rails 2122, 2124 in the y-direction. The x-rails 2122, 2124 further comprise an x-motor 2132 located on one side of the x-rail 2122, 2124, adjacent the y-motor 2150. A shaft extends from the x-motor 2132 to the nearby end of the x-rail 2122, 2124, which rotates a first x-spur gear 2135. The first x-spur gear 2135 engages with a second x-spur gear 2134 which is connected to an x-leadscrew 2126a. Rotation of the x-leadscrew 2126a effects movement in the x- direction of a carriage 2130 carrying a ‘hand’ mechanism 2200 on which the end effector 2110a is located, in the same manner as has been described for the second embodiment.

Similarly, at the other end of each of the x-rails 2122, 2124 there is provided a z-motor 2250 from which extends a shaft carrying a first z-spur gear 2253. The first z-spur gear 2253 engages with a second z-spur gear 2252, which is connected to a splined shaft 2128a. The rotation of the splined shaft 2128a effects z- movement of the hand 2200 carrying the end effector 2110a in the same manner as has been described in relation to the second embodiment.

The further y-pinion gears 2159-1 , 2159-2 are positioned in alignment with the shafts extending from the motors (at one end the x-motor 2156 and at the other end the z-motor 2250). Rotating elements 2160-1 , 2160-2 are provided at the outermost ends of these shafts adjacent the further y-pinion gears 2159-1 , 2159- 2. Both the further y-pinion gears 2159-1 , 2159-2 and the rotating elements 2160-1 , 2160-2 are rotatable around the shaft, the shaft therefore forming a y-pivot point 2164-1.

As shown in Figure 34a, the rotating element 2160-1 comprises two contact feet 2162-1 a, 2162-1 b (similarly, the rotating element 2160-2 at the other end of the x-rail 2122 comprises two contact feet 2162-2a, 2162-2b, as can be seen in Figures 33a and 33b). The contact feet 2162-1 a, 2162-1 b, 2162-2a, 2162-2b are vertically constrained within and run along the guide rails 2120a, 2120b, 2120c at the base of the y-rails 2010-1 , 2010- 2. This can help to stabilize the motion of the x-rails 2122, 2124 along the y-rails 2010-1 , 2010-2. The contact feet 2162-1 a, 2162-1 b, 2162-2a, 2162-2b are positioned on the rotating element 2160-2, preferably equidistant from the pivot point 2164-1. They are formed as having a rounded shape; this shape may, for example, be spherical or oblate. This shape can improve the smooth-running of the contact feet 2162-1 a, 2162-1 b, 2162-2a, 2162-2b within the guide rails 2120a, 2120b, 2120c, including around curved sections.

Figure 32a shows a side view of the x-rail 2122 in position in the back section 2042. The further y-pinion gear 2159-1 engages with the gear rack 2140a and the contact foot 2162-1 b fits within (and so runs along) the guide rail 2120a. Between the gear rack 2140a and the guide rail 2120a, the y-rail 2010-2 preferably comprises a further groove to accommodate the rotating element 2160-1 .

Figures 34a and 34b illustrate the manner in which the x-rail 2122 and carriage 2130 adjust to move between different planes, in order to move around the curved section 2056 when the device 2010 is in the upright configuration. Figure 34a shows the configuration of the x-rail 2122 when it is moving along a flat section. The two contact feet 2162-1 a, 2162-1 b form two contact points with the base of the box structure, and a third contact point, the carriage contact point 2280, is located at the front of the carriage 2130. As the x-rail 2122 moves towards a curved section of the box structure (such as the central curved section 2056), when travelling in a first direction, the carriage contact point 2280 encounters this first and causes the carriage 2130 and x-rail 2122 to rotate relative to the rotating element 2160-1 . When travelling in the opposite, second direction, the two contact feet 2162-1a, 2162-1 b encounter the curve first and this causes the carriage 2130 and x-rail 2122 to rotate relative to the rotating element 2160-1. This rotation occurs around the y-pivot axis 2164-1.

The contact feet 2162-1 a, 2162-1 b are vertically constrained within the guide rails 2120a, 2120b, 2120. As the contact feet 2162-1a, 2162-1 b have a rounded profile, they can maintain contact with the guide rails 2120a, 2120b, 2120c while following the curved path. It can also help to prevent jamming if the box structure becomes deformed due to external loading. The positioning of the contact feet 2162-1 a, 2162-1 b equidistant either side of the y-pivot point 2164-1 can assist in enabling the contact feet 2162-1 a, 2162-1 b to both remain in contact with the base of the box structure while moving around curves. This arrangement also ensures that the pinions 2158-1 and 2158-2 on the x-rails, which engage with the gear racks 2140a, 2140b, 2140c of the y-rails 2010-1 , 2010-2, always remain at the same height with respect to the y-rails 2010-1 , 2010-2. As such, the x-rails 2122, 2124 can remain on the y-rails 2010-1 , 2010-2. Additionally, the rotating elements 2160-1 , 2160-2 at either end of the x-rail 2122 can pivot independently from one another. This can help to accommodate any potential deformation or inconsistencies in the box structure.

The carriage contact point 2280 is formed as an elongate arc section which runs along the front of the carriage 2130. This has a constant radius curved profile with its apex below the contact point of the end effector 2110a. This assists in ensuring that the carriage contact point 2280 remains in contact with the base of the box even if lateral loading on the end effector 2110a causes twisting of the carriage 2130 about an axis perpendicular to the plane of this curved profile.

In some embodiments, the rotating element 2160-1 , 2160-2 may optionally be spring-loaded relative to the x- rail 2122, 2124, such that the carriage contact point 2280 is always forced into contact with the box base surface. This can help to prevent the structure tipping, if for instance the box structure were to be inverted.

‘Hand’ mechanism of a third embodiment

Figures 35 to 40 illustrate a third embodiment of the ‘hand’ mechanism 2200 of the invention, which is mounted on the carriage 2130 configured to run along the x-rail 2122. Figure 35 shows the hand 2200 mounted on the carriage 2130. In a corresponding arrangement to that of the second embodiment, the housing 2201 of the carriage 2130 comprises one or more recessed grooves 2202 arranged to receive a track running along the x-rail (in the x-direction). The housing 2201 further comprises a first channel 2204a through which the x-lead screw 2126a passes and a second channel 2204b through which the splined shaft 2128a passes. Movement of the carriage 2130 in the x-direction along the relevant x-rail is caused by the x- lead screw 2126a in the same manner as has been described for the second embodiment. The ‘hand’ mechanism 2200 of the third embodiment as a whole is moved in the z-direction via the splined shaft 2128a in the same manner as that described in relation to the second embodiment. In particular, the splined shaft 2128a interacts with bevel gears connected to a z-leadscrew 2240, onto which is mounted a z-leadscrew nut 2205, the leadscrew mechanism actuating a Scott-Russell linkage. (However, this arrangement could be replaced by the worm mechanism of the first embodiment.) As has been described for the previous embodiments, the hands are mounted on the carriages in a direction towards the other x-rail, so that the end effectors can be aligned at the same y value.

The end effector 2210a of the third embodiment, however, has a different arrangement to that of the first embodiment. Figure 36 shows the hand 2200 comprising the end effector 2210a without the carriage 2130. The end effector 2210a comprises a first end effector head 2212, which is located centrally and comprises a domed upper surface positioned on a cylindrical shaft located within a hollow cylindrical inner casing 2230 within a hollow cylindrical central casing 2226. The first end effector head 2212 is located externally to the casing 2226 and can be extended and retracted along the z-direction with respect to the casing 2226. The end effector 2210a further comprises a second end effector head 2214, which is formed approximately as a ring which surrounds the first end effector head 2212. The second end effector head 2214 comprises two nodes 2216, formed as two domed protrusions or hemispheres. The nodes 2216 are positioned on opposite sides of the ring shape. The domed upper surfaces of the nodes 2216 face along the z-direction, in the same direction as the upper domed surface of the first end effector head 2212, such that they can also be used to apply pressure to a user during a massage routine (through the cover 2030). Two pivot rods 2206a, 2206b extend the central casing 2226 located either side, and the second end effector head 2214 comprises channels 2215a, 2215b on each side of the ring each configured to accept one of the pivot rods 2206a, 2206b. (Figure 40 shows a cross-sectional view across the channels 2215a, 2215b and pivot rods 2206a, 2206b). This facilitates the second end effector head 2214 being able to pivot freely relative around a pivot axis defined by the channels 2215. The channels 2215, and hence also the pivot axis, are positioned at 90 degrees from the nodes within the circular plane of the ring, such that the nodes can rock back and forth in a see-saw fashion as the second end effector head 2214 pivots. The pivot axis is located within the x-y plane such that the rocking motion effectively moves the nodes up and down the z-direction, towards and away from a user when in use. As the end effector 2210a performs a massage, the nodes 2216 can rock to conform to the contours of a user’s body.

The relative heights of the first end effector head 2212 and the second end effector head 2214 can be adjusted by extending or retracting the first end effector head 2212 along the z-direction. There are three possible configurations of the relative heights of the first end effector head 2212 and the second end effector head 2214. In a first configuration, the first end effector head 2212 can be raised to a position beyond the nodes 2216 of the second end effector head 2214. In this configuration, only the first end effector head 2214 would make contact with a user’s back when in use. In a second configuration, the first end effector head 2212 can be positioned at the same z-value (or very similar z-value) as the nodes 2216 of the second end effector head 2214. In this configuration, all three contact points of the first end effector head 2212 and the two nodes 2216 will make contact with a user to apply pressure during a massage routine. In a third configuration, the first end effector head 2212 can be retracted to a position below the nodes 2216 of the second end effector head 2214. In this configuration, only the nodes 2216 of the second end effector head 2214 will make contact with the user, and not the first end effector head 2212. The hand mechanism 2200 of the third embodiment further comprises a motor 2220. The motor 2200 can drive the extension and retraction of the first end effector head 2212, which causes the reconfiguration of the end effector 2210a as described above. Additionally, the nodes 2216 of the second end effector head 2214 are rotated by driving the motor 2220. The nodes 2216 can be oscillated by repeatedly changing the direction of the motor 2220.

Figures 37 and 38 show a lower perspective view and a bottom view of the motor connections of the third embodiment. The motor 2220 drives a shaft 2222 carrying a threaded worm screw 2224. The threaded worm screw 2224 engages with the gear profile of a worm wheel which forms the outer surface of the central casing 2226, causing it to rotate. The central casing 2226 is constrained from linear movement by a spigot 2228 extending from the outer casing 2203 below the central casing 2226 but can rotate freely. As the second end effector head 2214 is mounted onto the pivot rods 2206a, 2206b which extend either side from the central casing 2226, driving the motor 2220 causes rotation of the second end effector head 2214. Driving the motor 2220 in different directions can lead to oscillating rotary motion of the nodes 2216 of the second end effector head 2214. If the end effector 2210a is configured such that the nodes 2216 can engage with a user in position, then this oscillating rotary motion of the nodes 2216 can cause a massage effect akin to a shiatsu massage.

Positioned within the central casing 2226 is an inner casing 2230, which is also formed as a hollow cylinder. The outer surface of the inner casing 2230 comprises a thread which engages with a corresponding thread on the inner surface of the central casing 2226. The inner casing 2230 is able to move linearly in the z- direction but is constrained against rotational movement by the spigot 2228. Thus, when the central casing 2226 rotates, the threaded engagement causes the inner casing 2230 to move in the z-direction (the direction depending on the direction of drive from the motor 2220). The first end effector head 2212 is mounted to the inner casing 2230, and so can be raised and retracted along the z-direction by driving the motor 2220 in different directions.

Within the inner casing 2230 may optionally be provided a voice coil actuator (VCA) 2232. The VCA 2232 comprises a transmission section 2238, which has a much smaller width than the main body of the VCA 2232. The first end effector head 2212 is mounted directly on top of this transmission section 2238 of the VCA 2232. When powered, the VCA 2230 will vibrate and the vibration can be transferred to a user via the first end effector head 2212. Such a vibration can enhance the massage effect for a user. The VCA 2232 is connected to a spring 2234 within the inner casing 2230. As the first end effector head 2212 applies force to a user during a massage routine, the load applied to the first end effector head 2212 is also applied to the VCA 2232 and the spring 2234, causing the spring 2234 to compress. In order to protect the VCA 2232 from overloading, at a particular compression of the spring 2234, a beveled lower lip 2213 of the first end effector head 2212 (effectively forming a ’cap’) makes contact with a top lip 2236 of the inner casing 2230. (In this arrangement, the VCA 2232 will not be made to vibrate.) This limits any loading applied to the VCA 2232 to a level which it can withstand. The end effector 2210a of the third embodiment can therefore perform massage routines by implementing any combination of the different massage techniques of: applying pressure via the first end effector head 2212; rotary oscillating motion of the nodes 2216 of the second end effector head 2214; and vibration of the first end effector head 2212 (via the VCA 2232). The end effector 2210a of the third embodiment can therefore be operated in five different modes, as outlined in Table 1 below.

Table 1

In the modes 4 and 5, as indicated in Table 1 , the nodes 2216 of the second end effector head 2214 are not positioned to engage with a user, and only the single contact point of the first end effector head 2212 is positioned to engage with a user. In mode 4, the first end effector head 2214 will apply pressure to a user to perform a pressure massage routine. In this mode, the VCA 2232 is turned off because the loading applied to the first end effector head 2212 will be too high, and the spring 2234 will compress such that the ‘cap’ mechanism as described above will transmit the loading to inner casing 2230. In mode 5, the VCA 2232 is turned on and so the loading of the first end effector head 2212 (as defined by the controller) will not exceed the loading limit of the VCA 2232. For example, the first end effector head 2212 will apply gentle pressure to a user in order to transmit the vibrations. In this mode, the loading is not sufficient for the spring 2234 to compress.

Additional and/or alternative features

Any of the features described in relation to any of the three embodiments could be implemented in any combination with features of any of the other embodiments. For example, the end effectors of any of the embodiments may be implemented on the rail systems of the other embodiments, or indeed alternative rail systems.

A skilled person would understand that there are alternative mechanisms by which to implement the x-y rail system. For example, a rack and pinion could be used to drive the carriages on the (linear or non-linear) rails. Preferably this comprises a fixed rack and a moving pinion for both x and y-rails. Additionally, as an alternative to a single y-rail carrying two carriages, the system could comprise two y-rails, each carrying a single carriage. Alternatively, each carriage could be carried by both y-rails. The x-y rail system may be reconfigured at a 90 degree rotation, such that two y-rails run between two fixed x-rails. Alternatively, two x- rails may be provided on two separate y-rails (and vice versa). Any reference in the description to the x-, y- and z-directions and axes should be understood to be representative only - the system may be implemented with the mechanisms arranged according to a differently defined orthogonal coordinate orientation.

Movement of the actuators within the x-y plane may also be implemented via methods other than a linear x-y rail system. For example, a SCARA arm system, extendable strut system, independently propelled ‘vehicles’, a belt-drive system or combination of individual belt-drive systems, cable-drive systems, leadscrew drive systems, linear motors (such as a Halbach array), or rack and pinion arrangements may all be used to move the end effector device of the present invention within the x-y plane. By way of example, a belt drive system may comprise a y-belt drive system with fixed belts and a moving pulley. Alternatively, a belt drive system may comprise an x-belt drive system with a moving belt and fixed pulleys. A y-leadscrew drive system may comprise one or two fixed y-leadscrews onto which are mounted movable nuts carrying x-rails. An x-splined shaft drive system may comprise a rack and pinion mechanism, wherein the pinion further comprises a bevel gear configured to engage with a further bevel gear on a splined shaft. Any of the mechanisms for effecting movement in the x-y plane may be implemented with drive provided centrally (as in the first described embodiment) or either side of the rail (as in the second and third described embodiments). For example, this could comprise centrally located belts, leadscrews, racks, and/or linear motors.

The seat of the massage chair may be configured differently, for example the legs may or may not be provided, or may be fixed. The massage chair may be configured as a conventional chair, in a similar arrangement as for typical massage chairs. Foam padding and cushioning may be provided, for example under the hip region, to improve comfort and support. The massage chair may be implemented in an office chair, vehicle chair, salon chair, or any other kind of seat or bed. The support structure may comprise a combination of rigid portions and elastic portions. For example, the chair may comprise a rigid spine support with elastic straps provided either side. Foam and/or further cushioning may be provided. Further chair elements may be provided, including calf supports, a headrest, or a (possibly removable) neck massager. A zip may be provided in the cover to expand the cover to a different arrangement in order to accommodate neck massage using the main massage system.

The device/chair may be flat, reclined, or upright, and may be fixed in a particular orientation or be reconfigurable. The configuration of the chair may include protrusions designed for lumbar support - for example, a chair may have a curved seat (and associated curved rail system) including a protrusion in the vicinity of a user’s lower back. The chair may be reconfigurable in the manner as described in relation to the third embodiment or may, for example, comprise a compliant structure. A sheet may also be provided with reinforced fixed portions adjacent the base and seat portions and a flexible central portion. This upper sheet can take loading in the z-direction (for example, forming the base of the x-y plane and x-y rail system), and may, for example, be formed of a plastic material. Above this may be provided a thin flexible sheet and below provided a thicker sheet with cut-out portions which can together form a guide rail. The cut-outs are provided centrally and allow the guide rail to bend. As the angle is changed, the thinner sheet may slide relative to the thicker sheet. At either side of the guide rail is provided a rack. The rack preferably has a small thickness so that it remains flexible and can adapt to changes in curvature of the chair. A pinion of the x-rail can engage with the rack and a contact prong of the x-rail can engage with the cut-out portions. Further layers may be provided which are sufficiently compliant to adapt between different arrangements and curvatures of the seat.

As a further alternative mechanism for the x-rail and carriage, there may be provided a support beam which runs along the length of the x-rail under the carriage. This support beam can take loading from the carriage to stabilize the arrangement. The support may make contact with the base of the box structure, and. The carriage may comprise a channel along which the support beam may run.

Alternative linkage mechanisms may be implemented on the hands of any of the embodiments. For example, pivot pins may be provided at different locations with respect to the finger, actuation strut and end effector. The second pivot pin may be provided near, but not at, the halfway between the first pivot pin and the centre of the end effector. A ‘scissor mechanism’ may be used in place of the Scott-Russell mechanism. Z-motion may be implemented via different mechanical arrangements, including but not limited to: a leadscrew mechanism, a scissor mechanism, moving rack mechanism, belt-driven mechanism, cam-type mechanism, hydraulic/pneumatic mechanism (potentially a peristaltic pump), an extendable strut mechanism, a compliant lattice, tensioned cables (for example with a spring return), Sarrus linkage, Hoecken linkage, simple lever, Peaucellier linkage, or other straight-line or straight-line approximation linkage mechanisms.

All of the embodiments describe two end effectors which each have independent motion from each other and in three dimensions. A different number of rails, carriages and end effectors may be used. For example, each x-rail may have two carriages which each carry an end effector. Additionally, certain aspects of the invention may be implemented in systems in which some motion is linked and/or motion is only possible in one or two dimensions. For example, the x-motion and/or y-motion of the end effectors may be linked to be equal or opposite. Two end effectors (or more) may be provided on the same rail, sch that their y motion is linked. Two (or more) end effectors may be provided on the same carriage, such that their x- and y-motion in the x-y plane is linked. A linkage may be provided between two rails leading to opposing linked motion. Alternatively, an ‘H-frame’ type belt mechanism may drive movement within the x-y plane. As a further example, end effectors may be able to move only linearly along a rail, and towards and away from a user. Alternatively, the z-motions mechanisms may be implemented on end effectors which are static in the x-y plane.

Although the carriages of all of the embodiments have been described as overhanging their respective rails in a direction towards the other rail, it should be understood that the carriages may be located directly on top of their respective rail, and the hand/end effector may extend in a direction parallel to the longitudinal axis of that rail. The carriages may alternatively overhang the rails in the direction away from the other rail. In some implementations, each hand may have more than one end effector connected at any one time to enable a quick change between different end effectors. This implementation may have more than one finger on each hand, and a different end effector connected to each finger. The end effectors could be used independently. The hands may be able to accommodate all of the different end effectors or only a subset of them. All the end effectors of the system may be on the hands, or a selection of the possible end effectors may be loaded onto the hand at any one time. For example, three end effectors may be loaded onto each hand while two further end effectors are ‘parked’ on the wheel of the first embodiment. The system may load the relevant end effectors for each massage treatment sequence at the start of the sequence.

The wheel 300 of the first embodiment may be used in combination with the end effector head of the second embodiment (having different end effector surfaces or portions), such that the wheel can load different end effector heads. The different end effector heads may be used for different types of massage, and the changeover to a different head performed before the massage routine is commenced. This would provide a wide range of choice of end effectors, while also enabling fast changeover during a particular massage routine.

The end effector heads of the third embodiment may be implemented in a variety of shapes and/or forms. A different number of nodes could be used. End effector arrangements of the first or second embodiments may be implemented in a dual-end effector system as described for the third embodiment. For example, the first end effector head may be implemented as interchangeable via a wheel mechanism (as for the first embodiment) or interchangeable via a rotatable end effector head (as for the second embodiment). Rotation of the end effector head may be actuated using stepper motors or brushless DC motors instead of a Geneva drive mechanism. Further types of end effectors can be used to achieve different effects: for example, end effectors may be formed as different shapes, and/or made from materials of different resilience. The end effectors may have fixed or rollable contact surfaces. The contour mapping end effector may have a different configuration. It may have a different mechanism configuration, for example as a spring-loaded cantilever. It may also be provided with a different sensing mechanism, for example capacitance proximity sensors, strain measurements, force measurement, etc.

Motors may be provided within the casing of a different rail, or provided within the carriage rather than within the casing of a rail of the system.

In some implementations of the carriages and/or x-rails, the contact feet or contact points configured to engage with the guide rails of the y-rails may be provided as wheels.

The controller software or mobile phone application may allow the user to choose a variety of settings and/or input information. The user may be able to input particular complaints, for example lower back pain or shoulder pain. The system can then amend saved massage routines, develop customized massage routines and/or suggest particular routines to the user. For example, the user may request the massage device to avoid a particular region. Alternatively, the user may request the system to focus on a particular region. Alternatively, the user may simply enter information about themselves such as age, weight, gender etc. and the system suggests massage routines based on common complaints of similar users. The system may include a muscle tension measurement system, for example comprising of taking force measurements and/or electrical measurements of muscle. The system may for example comprise a force transducer. The controller may amend saved or input massage routines in dependence on a muscle tension measurements.

Although the device has principally been described with reference to massaging a user via a predetermined massage routine, it is also possible that a user may manually control the operation of the device, for example via the mobile phone application previously described. Such manual control may involve the user manually controlling the position and/or actions performed by each end effector. The controller may be an integrated part of the chair/device or may be a separate component, which is possible removable (modular).

Although the system has been described with reference to the use of two end effectors, it will be appreciated that a different number of end effectors may instead be used.

In an alternative, only one end effector changing mechanism is provided, where both of the hands are capable of interfacing with the single end effector changing mechanism.

It should be understood that the present invention has been described above purely by way of example, and modifications of detail can be made within the scope of the invention. Each feature disclosed in the description, and (where appropriate) the claims and drawings may be provided independently or in any appropriate combination.

Reference numerals appearing in the claims are by way of illustration only and shall have no limiting effect on the scope of the claims.

Further aspects of the invention are provided by way of the following clauses:

1 . A device for massaging a user, comprising: at least one end effector being capable of moving in two dimensions in a plane, preferably wherein said moving is across a user, and a controller for controlling the movement of the end effector.

2. A device according to Clause 1 , wherein the at least one end effector is capable of moving in two perpendicular directions, preferably horizontally and vertically relative to a user.

3. A device according to Clause 1 or 2, further comprising at least one first rail and at least one second rail, wherein the at least one first rail is moveable along the at least one second rail, and the at least one end effector is movable along the respective at least one first rail; preferably wherein the at least one first rail extends perpendicular to the at least one second rail and/or wherein the at least one first rail is oriented horizontally and the at least one second rail is oriented vertically relative to a user.

4. A device according to Clause 3, further comprising a structure for supporting the at least one first rail and the at least one second rail; preferably wherein the structure defines a volume for the at least one end effector to operate.

5. A device according to Clause 3 or 4, wherein the at least one first rail runs between two second rails, and each end of the at least one first rail is movable along one of the two second rails.

6. A device according to Clause 5, wherein the two second rails each comprise a track and the at least one first rail comprises formations configured to engage with the tracks.

7. A device according to Clause 6, wherein the formations are provided on each end of the at least one first rail, and preferably the formations are connected by a shaft.

8. A device according to any of Clauses 5 to 7, wherein the at least one first rail is movable along the two second rails via a rack and pinion mechanism.

9. A device according to any of Clauses 5 to 8, wherein the two second rails form two sides of a frame of the device, preferably wherein the structure comprises the frame.

10. A device according to any of Clauses 3 to 9, wherein each at least one first rail comprises at least one motor.

11. A device according to Clause 10, wherein the at least one motor is arranged within the casing of the at least one first rail.

12. A device according to Clause 10 or 11 , wherein each at least one first rail comprises motors for effecting motion of the end effector in three dimensions relative to a user.

13. A device according to Clause 12, wherein the motors are located sequentially and/or in-line along the at least one first rail, and preferably parallel to the longitudinal direction of the at least one first rail. 14. A device according to any preceding clause, wherein the at least one end effector is capable of moving in three dimensions relative to a user.

15. A device according to Clause 14, wherein movement in each of the three dimensions is independent.

16. A device for automatically massaging a user, comprising: at least one end effector capable of movement in three dimensions, wherein the movement in each of the three dimensions is independent.

17. A device according to any of Clauses 14 to 16, wherein the directions are orthogonal, preferably wherein a first direction and a second direction are both parallel to a user, more preferably wherein a first direction is parallel to the at least one first rail and a second direction is parallel to the at least one second rail.

18. A device according to any preceding clause, further comprising at least one actuator for affecting motion of the at least one end effector towards or away from the user.

19. A device according to Clause 18, wherein each actuator comprises a straight-line linkage, preferably a Scott Russell linkage.

20. A device according to Clause 18, wherein the actuator comprises a four-bar linkage.

21. A device according to any preceding clause, further comprising at least one carriage on which the respective at least one end effector is mounted, preferably wherein each carriage travels on a respective first rail; more preferably wherein each carriage and/or the respective at least one end effector overhangs the respective first rail; even more preferably wherein each carriage and/or the respective at least one end effector overhangs the respective first rail in a direction towards an other first rail.

22. A device according to Clause 21 when dependent on Clause 18, wherein the at least one actuator is mounted on the respective at least one carriage, and preferably each actuator and each end effector are configured so as not to extend behind the carriage.

23. A device according to any preceding clause, comprising a first section and a second section for supporting a user, wherein the device is arranged to be configured in at least two configurations providing different relative angles between the first section and the second section.

24. A device for automatically massaging a user, comprising: a first section and a second section for supporting a user, wherein the device is arranged to be configured in at least two configurations providing different relative angles between the first section and the second section.

25. A device according to Clause 23 or 24, further comprising an interface between the first section and the second section, preferably wherein the interface is curved. 26. A device according to Clause 25, wherein the interface is in the form of a third section configured to be reversibly locatable between the first section and the second section, preferably wherein the third section is curved.

27. A device according to Clause 26, further comprising means for reversibly locating the third section between the first section and the second section, preferably wherein the means comprises a four- bar-linkage.

28. A device according to any of Clauses 23 to 27, wherein a or the at least one second rail is continuous across the sections.

29. A device according to any preceding clause, wherein a or the at least one first rail is configured to travel along a non-linear at least one second rail.

30. A device according to any preceding clause, wherein the at least one end effector is also capable of moving in two dimensions in at least one further plane, and preferably between the plane and the at least one further plane.

31. A device according to any of Clauses 3 to 30, wherein the at least one first rail comprises a first contact point and a second contact point for engaging the at least one second rail, wherein the first contact point and second point are pivotable relative to one another.

32. A device according to clause 31 , wherein the first contact point comprises two individual contact points, preferably wherein the two individual contact points are equidistant a pivot point defining the rotation between the first contact point and the second contact point.

33. A device according to any preceding clause, further comprising at least two end effectors.

34. A device according to Clause 33, wherein the at least two end effectors are capable of independent movement.

35. A device according to Clause 33 or 34 when dependent on Clause 3, wherein the at least two end effectors are mounted on respective separate first rails.

36. A device according to Clause 35, wherein movement of the at least two end effectors along the respective first rails is powered by separate motors, preferably wherein said separate motors are located on the respective first rails; more preferably wherein said separate motors are located so as to avoid interfering with the motion of the first rails.

37. A device according to any of Clauses 33 to 36, wherein the at least two end effectors are capable of being located at the same location in one dimension. A device according to Clause 37 when dependent on Clause 3, wherein the at least two end effectors are capable of being located at the same position along a longitudinal axis of the at least one second rail. A device according to Clause 37 or 38, wherein the at least two end effectors are oriented in different directions thereby to allow said location of the at least two end effectors at the same location in one dimension. A device according to any preceding clause, wherein the at least one end effector may be capable of being reversibly attached and detached from the device. A device according to any preceding clause, wherein the device is configured to allow said at least one end effector to be automatically changed with another at one least end effector. A device for automatically massaging a user, comprising: at least one end effector being capable of moving relative to a user, wherein the device is configured to allow said at least one end effector to be automatically changed with another at one least end effector. A device for automatically massaging a user, comprising: an end effector head comprising two or more portions capable of moving relative to a user, wherein the device is configured to actuate automatic changeover between the two or more portions. A device for automatically massaging a user, comprising an end effector head configured to perform at least two different types of motion. A device according to Clause 44, wherein the at least two different types of motion are at least two of: linear motion, pivoting motion and rotary motion; preferably wherein any of the types of motion may be oscillatory. A device according to any of Clauses 41 to 45, wherein the at least one end effector comprises a plurality of surfaces and the device further comprises an actuator configured to rotate and secure the end effector head such that one of the plurality of surfaces is in a direction towards a user. A device according to Clause 46, wherein the actuator is configured to rotate the end effector incrementally, preferably wherein the actuator is a Geneva drive mechanism. A device according to any of Clauses 41 to 47, comprising two end effectors and an actuator configured to extend and retract at least one end effector in a direction towards a user. A device according to any of Clauses 41 to 48, further comprising an end effector changing mechanism comprising a plurality of holsters for end effectors, wherein the end effector changing mechanism can be actuated so as to change the holster that is presented. 50. A device according to any preceding clause, wherein the at least one end effector comprises two surfaces configured to contact a user simultaneously and an actuator configured to drive rotary motion of the two surfaces, preferably oscillatory rotary motion.

51. A device for automatically massaging a user, comprising at least one end effector comprising two surfaces configured to contact a user simultaneously and an actuator configured to drive rotary motion of the two surfaces, preferably oscillatory rotary motion.

52. A device according to Clause 50 or 51 , further comprising a further end effector provided between the two surfaces.

53. A device according to Clause 52, wherein one of the at least one end effector and the further end effector can be retracted such that either one or both can be engaged for use.

54. A device according to any preceding clause, wherein the at least one end effector can be freely pivotable, preferably freely pivotable about an axis configured to be parallel to a user.

55. A device for automatically massaging a user, comprising a first end effector configured to be movable towards and away from a user, and second end effector configured to be freely pivotable about an axis perpendicular to the direction of motion of the first end effector.

56. A device according to Clause 55, wherein the motion of the first end effector is linked to the motion of the second end effector.

57. A device according to Clause 55 or 56, further comprising a drive means configured to drive the motion of the first end effector and the second end effector, preferably wherein the drive means is a motor.

58. A device according to any preceding clause, wherein the at least one end effector is configured to vibrate.

59. A device according to Clause 58, further comprising a vibration means configured to transmit vibrations to the at least one end effector, preferably wherein the vibration means is a voice coil actuator (VC A).

60. A device according to Clause 59, wherein the at least one end effector is located on the vibration means, preferably wherein the vibration means is spring-loaded, more preferably wherein the end effector is configured to transmit loading to a further component upon a particular compression of the spring.

61. A device according to any preceding clause, wherein the at least one end effector is configured to apply force to the user via a portion for supporting a user. 62. A device for automatically massaging a user, comprising: at least two end effectors being capable of independently moving relative to a user.

63. A device according to any preceding clause, wherein the device is implemented in or as a seat arrangement.

64. A device according to any preceding clause, further comprising legs for supporting the device and a section for supporting a user, wherein the section for supporting the user is rotatable relative to the legs.

65. An end effector for a massage device comprising two or more portions capable of moving relative to a user, wherein the device is configured to actuate automatic changeover between the two or more portions.

66. An end effector for a massage device, configured to perform at least two different types of motion.

67. An end effector according to Clause 66, wherein the at least two different types of motion are at least two of: linear motion, pivoting motion and rotary motion; preferably wherein any of the types of motion may be oscillatory.

68. An end effector according to any of Clauses 65 to 67, comprising a plurality of surfaces, wherein the end effector is rotatable such that one of the plurality of surfaces can be secured in an orientation towards a user.

69. An end effector according to any of Clauses 65 to 68, comprising two surfaces configured to contact a user simultaneously and perform rotary motion, preferably oscillatory rotary motion.

70. An end effector for a massage device comprising two surfaces configured to contact a user simultaneously and perform rotary motion, preferably oscillatory rotary motion.

71. An end effector according to Clause 69 or 70, further comprising a further surface configured to contact a user.

72. An end effector according to Clause 71 , wherein the further surface is configured to move linearly, preferably towards and away from a user.

73. An end effector according to Clause 72, wherein the further surface is retractable and extendable, preferably relative to the two surfaces, such that the two surfaces and/or the further surface are configured to be in contact with the user.

74. An end effector according to Clause 72 or 73, wherein motion of the two surfaces is linked to motion of the further surface, preferably further comprising a motor configured to drive the motion of the two surfaces and the further surface. 75. An end effector according to any of Clauses 69 to 74, wherein the two surfaces are freely pivotable, preferably freely pivotable about an axis configured to be parallel to a user, preferably freely pivotable about an axis perpendicular to the direction of motion of the further surface.

76. An end effector for a massage device, wherein at least a portion of the end effector is freely pivotable, preferably freely pivotable about an axis configured to be parallel to the surface of a user.

77. An end effector according to any of Clauses 65 to 76, wherein the end effector is configured to vibrate, preferably wherein the end effector further comprises a vibration means, preferably wherein the vibration means is a voice coil actuator (VCA).

78. An end effector according to Clause 77, wherein the end effector is spring-loaded, preferably wherein the end effector is configured to transmit load to a further component upon a particular compression of the spring.

79. An end effector according to any of Clauses 65 to 78, adapted for use with a massage device according to any of Clauses 1 to 64.

80. A method of calibrating the device of any of Clauses 1 to 64 for a particular user, comprising: providing a sensing end effector, and scanning a particular user who is using the device with the sensing end effector thereby to obtain topography data related to a user’s body.

81. The method of Clause 80, further comprising associating the topography data with a profile for the particular user.

82. The method of Clause 80 or 81 , further comprising adapting a massage routine for use with the device in accordance with the topography data.