Title:
MASSAGE ROBOT, CONTROL PROGRAM THEREFOR, AND ROBOT FOR SPECIFYING PORTION OF HUMAN BODY
Document Type and Number:
WIPO Patent Application WO/2008/041457
Kind Code:
A1
Abstract:
Massage similar to massage performed by a masseur is automatically performed by
accurately grasping the state of a portion to be massaged. A massage robot (10) related
to an example of this invention comprises a contact (17) brought into contact
with the face (F) of a user (H), an arm (19) moving the contact (17) in a predetermined space
while holding the end of the contact, a sensor (21) capable of measuring the reaction
force on the contact (17) from the face (F) caused when the contact presses against
the face, and a control device (15) for controlling the motion of the arm (19).
The control device (15) has a shape detecting function (23) for detecting the
shape of the face (F) by using the values measured by the sensor (21), a portion
specifying function (24) for specifying a portion to be massaged in the face (F)
by using the shape of the face detected by the shape detecting function (23) and
the value measured by the sensor (21), and a massage control function (25) for
so controlling the contact (17) as to give a predetermined massage to the portion
to be massaged specified by the portion specifying function (24).
Inventors:
TAKANISHI ATSUO (JP)
KATSUMATA AKITOSHI (JP)
USUDA YUICHI (JP)
KOGA HIROKI (JP)
MATSUNO MASAO (JP)
OGURA YU (JP)
ISHII HIROYUKI (JP)
SOLIS JORGE (JP)
KATSUMATA AKITOSHI (JP)
USUDA YUICHI (JP)
KOGA HIROKI (JP)
MATSUNO MASAO (JP)
OGURA YU (JP)
ISHII HIROYUKI (JP)
SOLIS JORGE (JP)
Application Number:
PCT/JP2007/067745
Publication Date:
April 10, 2008
Filing Date:
September 12, 2007
Export Citation:
Assignee:
UNIV WASEDA (JP)
TAKANISHI ATSUO (JP)
KATSUMATA AKITOSHI (JP)
USUDA YUICHI (JP)
KOGA HIROKI (JP)
MATSUNO MASAO (JP)
OGURA YU (JP)
ISHII HIROYUKI (JP)
SOLIS JORGE (JP)
TAKANISHI ATSUO (JP)
KATSUMATA AKITOSHI (JP)
USUDA YUICHI (JP)
KOGA HIROKI (JP)
MATSUNO MASAO (JP)
OGURA YU (JP)
ISHII HIROYUKI (JP)
SOLIS JORGE (JP)
International Classes:
A61H7/00; G01B5/20
Domestic Patent References:
| WO1999059521A1 | 1999-11-25 |
Foreign References:
| JPH06190012A | 1994-07-12 | |||
| JPH04343846A | 1992-11-30 | |||
| JP2001037832A | 2001-02-13 | |||
| JP2001269380A | 2001-10-02 | |||
| JP2006115906A | 2006-05-11 | |||
| JPH09224993A | 1997-09-02 | |||
| JPH09299425A | 1997-11-25 | |||
| JPH0788145A | 1995-04-04 |
Attorney, Agent or Firm:
ENOMOTO, Hidetoshi (Tokyo 71, JP)
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