INTUITIVE MASSAGE SYSTEM OF MANIPULATOR TYPE (VERSIONS) Russian patent published in 2022 - IPC A61H15/00 B25J18/00 

FIELD: group of inventions relates to automated physiotherapy equipment and can be used for health-improving massage operations.

SUBSTANCE: manipulator-type physiotherapy complex contains a control and management part and an executive part interconnected with it, which includes a robotic manipulator drive, a suspended damping system and a sensitive contact element for massage intervention. The robotic manipulator drive is made as a composite of movably interconnected links with the formation of misaligned junctions at the specified junctions. Suspension damping system consists of a support bracket fixed at the free end section of the link, on the lower end section of which a working lever is installed with the possibility of rolling, one of the extreme sections of which is equipped with the mentioned sensitive contact element for massage intervention, and the other of the extreme sections is equipped with a connecting module with an elastic element is connected to the opposite part of the support bracket. The location of the specified sensitive contact element is chosen so that, firstly, the rolling axis of the working lever is predominantly parallel to the plane formed by the section contact of the surface of the sensitive contact element with the surface of the user's body, and secondly, so that the specified contact area is outside the plane formed by the rolling axis of the working lever and the conditional perpendicular to the plane formed by the contact area.

EFFECT: increased safety during operation by means of the possibility of operational control and limitation, if necessary, of the exerted force massage action.

3 cl, 7 dwg