A massage motion control method, a robot controller using the same, and a storage medium are provided. The method includes: calculating a robot end desired speed and a robot end desired angular speed corresponding to a desired massage trajectory of a massage robot to compensate using two obtained robot end compensation amounts in the case that the desired massage trajectory for a target massage area at a current control cycle, a robot end speed compensation amount meeting a desired massage intensity requirement, and a robot end angular speed compensation amount adapted to an environmental curvature of the target massage area are obtained, and controlling the massage robot by determining a corresponding to-be-outputted joint angle based on motion parameter(s) obtained by the compensation. In this manner, the adaptive change of the massage position and the massage intensity for the massage area of the patient can be realized.

There is provided a phototherapy apparatus, in which the therapeutic light is delivered through one or more massage components. The massage component provides mechanical massage to the subject biological tissue and modifies the properties of the subject tissue in thickness, density, etc. to facilitate the absorption of the therapeutic light and enhance the effect of the phototherapy procedure. The light source of the phototherapy apparatus is actively cooled by a synthetic jet cooler.

A device used for applying an antiseptic preparation, such as an antibiotic solution or water, or all other substance deemed necessary in treating a wound prior to arrival at a hospital or other treatment facility or for continuing wound therapy and maintenance while hospitalized, in an out-patient facility or at home. A loose-fitting bag is provided which encloses the wound by securing the open end(s) to the patient by closing means. The bag further includes ports or resealable flaps that allow access to the wound for treatment and cleaning while containing all fluids resulting therefrom. A high friction scrub surface is provided in the bag. A method and apparatus are also provided for wound maintenance with a lavage system.

A customizable cleaning brush, including a main body, a plurality of head members removably connected to at least a portion of the main body to brush, scrub, and massage a body of a user, a plurality of operation controls disposed on at least a portion of a first side of the main body to perform at least one of a rotation, oscillation, and vibration of the plurality of head members, and a plurality of pressure controls disposed on at least a portion of a second side of the main body to perform at least one of a speed control and a pressure control of the plurality of head members.

A human body stimulation device and a human body stimulation method using the human body stimulation device. A human body stimulation device includes a human body stimulation unit including a sonic vibration module configured to apply sonic vibration to a body of the user, at least one motor configured to move the sonic vibration module, a position detection unit configured to detect a position of the sonic vibration module, and a controller. The controller determines a body part corresponding to the detected position of the sonic vibration module and controls the sonic vibration module to output the sonic vibration based on characteristics of the body part.

A chair-type massage machine includes a main body on which a person to be treated is to be seated, a holding part at least part of which is placed inside a container recess to hold a first operation unit, and a moving mechanism for moving the holding part. The holding part is reciprocatably moved between a first position in which the first operation unit is contained in the container recess and a second position in which the first operation unit is exposed. The chair-type massage machine further includes a second operation unit for moving the holding part.

A chair-type massage machine includes a main body on which a person to be treated is to be seated, a holding part at least part of which is placed inside a container recess to hold a first operation unit, and a moving mechanism for moving the holding part. The holding part is reciprocatably moved between a first position in which the first operation unit is contained in the container recess and a second position in which the first operation unit is exposed. The chair-type massage machine further includes a second operation unit for moving the holding part.

Proposed is spinal orthopedic exercise equipment which can obtain an improved exercise effect related to spinal orthopedics with a simple structure. The spinal orthopedic exercise equipment supporting a user's back and waist to apply pressure thereto includes: a first body having a plurality of first protrusions protruding therefrom, a second body coupled to the first body and having a plurality of second protrusions protruding therefrom, a flexible connector located between the first body and the second body to be bendably coupled thereto, and a removable rolling bar coupled to a bottom surface of the first body or the second body having no protrusion and supporting the first body or the second body, the removable rolling bar causing the first body or the second body to perform a seesaw movement relative to a support point thereof.

An apparatus and method for applying caresses and massages, comprising an apparatus composed of a fixed lower section, which acts as a base, contains the lifting mechanisms, and houses a movable upper section, with a housing that accommodates the rest of the components of the device; a SCARA-type deployable robotic arm housed in the upper section and composed by a plurality of staggered parallel links and articulated at their ends by a power transmission mechanism comprised by motors with belts placed on pulleys coupled to concentric hollow shafts. The upper section is placed on a sliding and rotary platform that supports and guides it on the vertical axis through a vertical lead screw lifting mechanism, also allowing it to rotate on its own axis. The apparatus performs the movements by implementing a method of preset caress and massage patterns assisted by artificial intelligence and guided by several sensors.

This massage head includes a housing, having two active members emerging from the lower surface thereof, having its free lower edge, opposite to the housing, intended to be in contact with a patient's skin. One at least of said active members is formed of a flap hinged within the housing and capable of being pivoted to bring the lower edges of said active members closer to each other or draw them away from each other, the relative displacement of said at least one flap being ensured by means of a rotary cam formed within the housing, the rotation axis of the cam being oriented substantially parallel to the displacement direction of said at least one flap. The cam includes at least one cam track formed on its periphery, intended to cooperate with the flap support(s), having one or their ends hinged in the housing.