CN110856687A

CN110856687A - Massage device, control method of massage device, and massage method

Info

Publication number: CN110856687A
Application number: CN201811100633.4A
Authority: CN
Inventors: 李少麟
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-08-24
Filing date: 2018-09-20
Publication date: 2020-03-03
Anticipated expiration: 2038-09-20
Also published as: CN209808961U; CN110856687B

Abstract

The invention discloses a massage device, a control method and a massage method. The device includes: a support frame; a drive device mounted to the support frame; and a massage assembly operatively connected to the drive device, and an interior of the massage assembly forming a chamber and a massage medium filled within the chamber, wherein the massage device further comprises a hydro-morphic device controlling reversible change of the massage medium between a first state in which the massage medium is in a liquid state having a first viscosity and a second state in which the massage medium is in a liquid state or a solid state having a second viscosity higher than the first viscosity. The massage device can advantageously improve the massage safety and improve the massage effect.

Description

Massage device, control method of massage device, and massage method

Technical Field

The invention relates to the technical field of health care and physical therapy through massage, in particular to a massage device, and also relates to a control method of the massage device and a massage method using the massage device.

Background

With the continuous development of economy and the continuous acceleration of the pace of life of people, people pay more and more attention to physical and mental health, but the health care by massage is popular among the old and the young, and then various massage devices with specific health care functions, such as massage chairs, massage bathtubs, massage footbaths and other products appear in the market. The massage devices have remarkable effects in relieving pressure, relieving fatigue and the like.

The massage devices currently known on the market can be divided into two main categories, one for performing the massage by means of the movement or oscillation of a mechanical structure, such as rollers (as shown in fig. 1A), and the other for performing the massage action by means of a fluid flow by means of a bladder or the like. Some massage devices are known, such as those disclosed in chinese patent application publications CN107307982A and CN107307969A, chinese patent publications CN104473748B and CN 101002712B.

Some of the real causes of lumbar discomfort or pain are not superficial tendon strains, but rather slight misalignment between bones or wear of bones, which may be caused by holding an action for a long period of time or by suddenly applying excessive force to make some action, as shown in fig. 1B and 1C. The existing massage devices can only relieve discomfort or pain for a short time, but do not have substantial therapeutic effects.

On the other hand, as the roller type massage structure shown in fig. 1A adopts a mechanical structure in which a motor drives a roller, an accident has occurred, and the hard mechanical structure is tightly clamped on the body of the user to cause injury due to the operation failure; the use of inflatable structures is relatively safe, but can also cause injury due to the bladder gripping the user's body as a result of the failure of the air valve.

Therefore, there is still a need for further improvements to existing massage devices to avoid any possible accidents during the massage action. Meanwhile, it is also desired that the massage device can be applied more deeply to the uncomfortable part of the human body to improve the physical therapy effect by the massage.

Disclosure of Invention

In order to overcome the defects of the prior art, improve the comfort and the safety of the massage device and realize targeted and effective physical therapy, the invention provides the massage device, which comprises: a support frame; a drive device mounted to the support frame; and a massage assembly operatively connected to the drive device, and an interior of the massage assembly forming a chamber and a massage medium filled within the chamber, wherein the massage device further comprises a hydro-morphic device controlling reversible change of the massage medium between a first state in which the massage medium is in a liquid state having a first viscosity and a second state in which the massage medium is in a liquid state or a solid state having a second viscosity higher than the first viscosity.

According to one aspect of the invention, the massage medium comprises an electrorheological fluid and the fluid-varying device comprises an electrorheological fluid and an electrode arranged to apply an electric field to the electrorheological fluid, and the electric field controller is configured to control the magnitude of the electric field applied by the electrode. Alternatively, the massage media comprises a magnetorheological fluid, the magnetic poles are arranged to apply a variable magnetic field to the massage media, and the magnetic field controller is configured to control the magnitude of the magnetic field applied through the magnetic poles.

According to another aspect of the invention, at least a portion of the massage assembly is constructed of an elastomer, the outer contour of the at least a portion being capable of varying with changes in the form of the massage media.

According to yet another aspect of the invention, the drive means includes an actuator selected from one of a pneumatic device, an electric motor, an electric oil hydraulic pump and an electric inflator.

According to yet another aspect of the invention, the drive apparatus further includes a push rod coupled to the actuator, the actuator operable to move the push rod between the extended position and the retracted position, the massage assembly being coupled to the push rod and moving with the push rod between the extended position and the retracted position.

According to a further aspect of the invention, the massage assembly comprises a massage head distal to the drive means, an intermediate portion and a rear end portion proximal to the drive means, the massage head being made of an elastomeric material, the massage head and the rear end portion being sealingly connected to both sides of the intermediate portion, respectively, forming a chamber. Preferably, the support frame is provided with a window portion through which the massage assembly passes and the intermediate portion is supported by the support frame. The rear end portion is made of an elastomeric material and the drive device has a retractable push rod with one end connected to the rear end portion. The electrodes of the hydro-rheological device are preferably disposed on the intermediate portion and pass through the intermediate portion to contact the massage medium within the chamber.

According to yet another aspect of the invention, the hydraulic means is arranged to place the massage medium in a first state when the actuator-operated push rod is in the retracted position and in a second state when the actuator-operated push rod is in the extended position.

According to the present invention, there is also provided a control method of a massage apparatus including: a drive device; a massage assembly actuated by the drive to move between a retracted position and an extended position, an interior of the massage assembly forming a chamber to contain a massage medium; and the massage device also comprises a liquid change device which applies an electric field or a magnetic field to the massage medium to change the phase state of the massage medium, and the control method comprises the following steps: when the driving device enables the massage assembly to be in the retracted position, the liquid changing device controls the massage medium to be in a liquid state with first viscosity; the hydro-rheological device controls the massage medium to be in a liquid or solid state having a second viscosity when the drive device causes the massage assembly to be in the extended position.

According to another aspect of the present invention, in the above control method, the hydraulic device is controlled to gradually increase the viscosity of the massage medium during the movement of the massage assembly from the retracted position to the extended position, and the hydraulic device is controlled to restore the massage medium to a liquid state having the first viscosity when the massage assembly is retracted from the extended position to the retracted position.

The invention also provides a massage method implemented by using the massage device, which comprises the following steps: a relaxing massage stage and a deep massage stage, wherein in the relaxing massage stage, the massage component is positioned at a first position in contact with the surface layer of the part to be massaged, and the massage medium is positioned in the first state; in a deep massage phase, the massage assembly is moved to a second position towards the massaged site, the massage medium being in the second state.

With the massage device according to the invention, the massage assembly achieves two distinct states in use by means of the smart fluid therein: one is a softer, deformable state and the other is a harder, substantially non-deformable state; and these two states may be cycled through the massage process. Therefore, the part of the massage component contacting with the human body can be deformed to the outline most fitting with the massage part, so as to avoid massage injury, achieve the effect of deep massage and obviously improve the physical therapy effect.

Drawings

Fig. 1A is a schematic view showing a roller type massage apparatus of the related art.

Fig. 1B is a schematic diagram of tendon injury due to long-term postural inaccuracy.

Fig. 1C is a schematic illustration of tendon injury due to exercise or physical sprain.

Fig. 2A is a perspective view of a massage device according to a preferred embodiment of the present invention, wherein the medium in the massage assembly is in a fluid state.

Fig. 2B is a front view of the massage device in accordance with a preferred embodiment of the present invention, wherein the medium within the massage assembly is in a fluid state.

Fig. 3A is a perspective view of a massage device according to a preferred embodiment of the present invention, wherein the medium inside the massage assembly is in a solid state.

Fig. 3B is a front view of the massage device in accordance with a preferred embodiment of the present invention, wherein the medium inside the massage assembly is in a solid state.

Fig. 4A is a schematic view of the massage assembly in the retracted position with the massage head in contact with the person's body in the massage device according to the preferred embodiment of the present invention, wherein the medium in the massage assembly is in a liquid state.

Fig. 4B is a schematic view of the massage assembly in the extended position with the massage head in contact with the human body, wherein the medium inside the massage assembly is in a solid state, in the massage device according to the preferred embodiment of the present invention.

Fig. 5 is an exploded perspective view of a massage apparatus according to a preferred embodiment of the present invention.

Fig. 6 is a perspective view of a frame in the massage apparatus according to the preferred embodiment of the present invention.

Fig. 7A is a perspective view of the driving means in the massage device according to the preferred embodiment of the present invention, wherein the push rod is in the retracted position.

Fig. 7B is a perspective view of the driving device in the massage device according to the preferred embodiment of the present invention, wherein the push rod is in the extended position.

Fig. 8A is a perspective view of a massage assembly in the massage device according to the preferred embodiment of the present invention.

Fig. 8B is an exploded perspective view of the massage assembly in the massage device according to the preferred embodiment of the present invention.

Detailed Description

The invention is further illustrated by the following examples and figures. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, it will be apparent that the invention can be practiced in many other ways than those specifically described, and that many variations and modifications can be made by one skilled in the art without departing from the spirit of the invention.

The massage device 10 according to the invention generally comprises a drive means 2 capable of generating a massage force and a massage assembly 3 for applying a massage action. The drive means 2 is connected to a massage assembly 3, the massage assembly 3 forming a deformable chamber and containing a smart fluid therein for use as a massage medium. The viscosity (viscosity) and phase of the smart fluid in the massage assembly 3 is controlled by a specially provided hydraulic varying device 5 in the massage device 10.

Smart fluids generally refer to fluids that change their flow properties under the action of a magnetic or electric field. Smart fluids can generally be divided into two broad categories; electrorheological fluids (ER fluids) and magnetorheological fluids (MR fluids).

The electrorheological fluid is a suspension liquid formed by uniformly dispersing solid particles with high dielectric constant in insulating oil with low dielectric constant, and under the action of an external electric field, the solid particles in the electrorheological fluid obtain the induction action of the electric field, so that the solid particles enter a solid state from a liquid state. When the intensity of the external electric field is greatly lower than a certain critical value, the electrorheological fluid is in a liquid state; when the electric field strength is much higher than this critical value, it becomes solid; near the critical value of the electric field strength, the viscosity or viscosity of such suspensions becomes progressively greater as the electric field strength increases.

Magnetorheological fluids are also controllable fluids, which are typically suspensions of magnetic particles in non-magnetic oils. The magnetorheological fluid can instantly and reversibly change the fluidity under the action of a magnetic field, and the Newtonian fluid is changed into the Bingham fluid. When a magnetic field is applied to the magnetorheological fluid, fine magnetic particles can generate a chain structure or further form a columnar structure in the direction parallel to the magnetic field, and under the influence of the similar fence effect, the magnetorheological fluid which can flow freely and has no fixed shape originally generates solidified phase change to change the rigidity and damping characteristic of the magnetorheological fluid; when the external magnetic field is removed, the chain structure disappears immediately, and the magnetorheological fluid returns to a fluid state capable of flowing randomly.

The massage device 10 of the present invention utilizes the hydraulic varying device 5 to controllably vary the smart fluid between at least two states in which the smart fluid has different viscosities and/or flowabilities. By utilizing the viscosity and/or fluidity of the intelligent fluid which is controlled to change in the process of applying the massage force on the massage device 10, deep massage can be realized on the human body part to be massaged, so that massage can be implemented on a more fit massage action surface and a more accurate position, and the effect of physical therapy is improved.

Hereinafter, a massage apparatus 10 according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

Fig. 2A and 2B show a perspective view and a front view, respectively, of a massage device 10 according to a preferred embodiment of the present invention, wherein the smart fluid is in a low viscosity, high flow liquid state; fig. 3A and 3B show another perspective view and a front view, respectively, of the massage device 10 with the smart fluid in a highly viscous liquid or fully solid state. In the present embodiment, the smart fluid takes the electro-rheological fluid 305 as an example. As shown in fig. 2A, 2B, 3A and 3B, in general, a massage apparatus 10 adapted to press a human body part such as cervical vertebrae, lumbar vertebrae, etc. includes a support frame 1, a driving apparatus 2, a massage assembly 3, and a hydro-variation device 5, wherein the driving apparatus 2 is held by the support frame 1, and the massage assembly 3 is operatively connected to the driving apparatus 2.

As shown in fig. 6, the support frame 1 includes an L-shaped support body 101, which is composed of a bottom plate 1011 and side plates 1012. Preferably, the bottom plate 1011 and the side plate 1012 are integrally formed, and the side plate 1012 extends substantially perpendicularly from an end of the bottom plate 1011. The side plate 1012 defines a window 1013 for receiving the massage assembly 3. A connecting element 102 is arranged on the base plate 1011 for supporting the drive 2 on the base plate of the support 101. Preferably, the connector 102 has relatively discrete support legs 1021 fixedly attached to the base 1011, and as shown in fig. 5, the drive unit 2 has corresponding connectors 201, and the support legs 1021 are connected to the connectors 201 of the drive unit 2 by fasteners such as bolts.

It should be noted that when the massage apparatus 10 is incorporated in a massage device such as a massage chair, a plurality of massage apparatuses 10 are generally provided at different positions of the massage device as needed. Depending on the particular mounting location of the massage device 10 and the overall construction of the massage apparatus, the support frame 1 may take other configurations, for example, the support frame 1 may be assembled from a plurality of separate stationary members that support the retaining drive 2 on the one hand and provide a position-fixing effect for the massage assembly 3 on the other hand.

As shown in fig. 7A and 7B, in the preferred embodiment according to the present invention, the driving device 2 includes an actuator 202 capable of generating a massage force. The actuator 202 may be selected from a pneumatic device, an electric motor, an electric oil hydraulic pump, an electric gas-filled device, or other device capable of generating a force.

In the preferred embodiment, the drive device 2 includes a rotary motor as the actuator 202, a chute 203 housed in a housing of the drive device 2, a screw (not shown) provided in the chute, a gear reducer (not shown) that transmits a driving force of the rotary motor to the screw, and a push rod 204 connected to the screw, protruding from the housing of the drive device 2. The end of the push rod 204 is fixedly connected to the massage assembly 3. During the movement, the rotating motor drives the gear reducer, which in turn drives the screw, and finally the push rod 204 moves linearly along the massage force application direction, and the push rod 204 can move back and forth between a retracted position (first position) as shown in fig. 7A and an extended position (second position) as shown in fig. 7B along with the action of the rotating motor 202.

Next, a massage assembly 3 of a preferred embodiment adapted to an end of the push rod 204 is described with reference to fig. 8A and 8B.

In accordance with the principles of the present invention, at least a portion of the massage assembly 3 is constructed of an elastomer, the exterior contour of which can vary with the form of the massage medium. In the preferred embodiment, the housing of the massage assembly 3 is made up of three parts: a massage head 304 located distally of the drive means 2, an intermediate portion 302 and a rear end portion 301 located proximally of the drive means 2, the massage head 304 and the rear end portion 301 being respectively fluid-tightly connected to opposite sides of the intermediate portion 302. When assembled together, the three parts form the massage assembly 3, as shown in fig. 8A, which forms a generally rectangular cube shape to contain the smart fluid in a liquid state therein without the application of massage force. Other housing shapes, such as cylindrical, are also contemplated.

The massage head 304 of the massage assembly 3 is a component that is in direct contact with the body part, which is typically formed of an elastomeric material, and the outer shape of the massage head 304 may deform as the flow of smart fluid changes.

The rear end 301 of the massage assembly 3 is part of a push rod 204 for connection to the drive means 2. As shown in fig. 8A, the rear end 301 has a connecting portion 306 that can be fitted over the end of the push rod 204 of the drive device 2. The rear end 301 is also made of an elastomeric material. When the push rod 204 of the drive device 2 is extended forward to press the rear end portion 301, the rear end portion 301 is deformed and the push rod 204 presses the smart fluid inside the assembly 3 to displace it towards the distal end of the massage head 304. It should be understood that other variations of the rear end portion 301 are possible. For example, when an electrically powered hydraulic pump is employed as the actuator, the rear end 301 may be directly provided as a hydraulic pump actuated piston configured to squeeze the smart fluid within the massage assembly 3.

The middle portion 302 of the massage assembly 3 is generally constructed as an insulating rigid member, open on both sides, to be connected with the massage head 304 and the rear end portion 301, respectively. As shown in fig. 2A, the intermediate portion 301 is inserted in the window portion 1013 on the support frame 1, so that the entire massage assembly 3 is held by the support frame 1.

In the preferred embodiment according to the present invention, the electro-rheological fluid 305 is contained in the chamber of the massage assembly 3 as a massage medium with variable viscosity, and accordingly, the electrode 501 of the fluid varying device 5 is provided on the intermediate portion 302, and the electrode 501 extends inwardly into the chamber through the intermediate portion 302 and is in direct contact with the electro-rheological fluid 305 inside the chamber to apply an electric field.

The liquid-change device 5 further includes an electric field controller electrically connected to the electrode 501 mounted on the intermediate portion 302. The electric field controller is configured to controllably apply an electric field to the electro-rheological fluid through the electrodes to control the rate and timing at which the electro-rheological fluid 305 within the chamber of the massage assembly 3 changes from the first state to the second state. The first state of the electro-hydraulic fluid 305 is a liquid state, and the second state may be a solid state or a liquid state having a relatively high viscosity and relatively low fluidity. The second state of the electro-rheological fluid 305 may be controlled by setting the maximum value of the electric field applied by the electrode 501 by the electric field controller. That is, if the maximum electric field that can be applied by the electrode 501 is set to be greater than the critical value of the electric field at which the electrorheological fluid 305 changes from the liquid state to the solid state while the electrorheological fluid 305 can directly change to the solid state by the electrode 501, if the maximum electric field that can be applied by the electrode 501 is set to be less than but close to a predetermined value of the critical value of the electric field, the electrorheological fluid 305 will have a second liquid state with a higher viscosity by the electric field of the predetermined value.

Next, a control method of the massage device 10 according to the preferred embodiment of the present invention will be described in detail with reference to fig. 4A and 4B.

As described above, the massage assembly 3 is drivably attached to the drive device 2 by the connection between the rear end portion 301 and the end portion of the push rod 204, so that the massage assembly 3 is reciprocated between the retracted position and the extended position by the driving force generated by the rotary motor 202. In the retracted position, most or all of the push rod 204 is received within the body of the drive device 2, while in the extended position, the push rod 204 extends outwardly from the body.

Fig. 4A shows the massaging assembly 3 in contact with the region to be massaged (illustrated by way of example in a human cervical spine) in a retracted position, in which the hydro-rheological device 5 in the massaging device 10 is normally controlled to apply no or only a minimal flow to the electro-rheological fluid, the electro-rheological fluid 305 then being in a first state of being completely liquid, the electro-rheological fluid 305 having a low viscosity and a high fluidity. Next, the drive means 2 starts to drive the massage assembly 3 towards the extended position. During the movement of the massage assembly 3 from the retracted position to the extended position, the electric field applied by the liquid-change device 5 to the electro-hydraulic fluid 305 becomes gradually larger, the viscosity of the electro-hydraulic fluid 305 becomes gradually larger, and the fluidity thereof becomes gradually smaller, and when the extended position shown in fig. 4B is reached, the electric field applied to the electro-hydraulic fluid 305 reaches the set maximum value, at which the viscosity of the electro-hydraulic fluid 305 is at the maximum or becomes solid.

The massage process carried out by the massage assembly 3 described above comprises a relaxation massage phase and a depth massage phase. When the massage unit 3 is superficially applied to the area of the human body to be massaged in the retracted or first position while the electro-rheological fluid 305 in the chamber of the massage unit 3 is in a liquid state, the massage unit 3 is in a relaxation massage phase, as shown in fig. 4A, in which the massage head 304 is very deformable, the head 304 is attached to the surface of the human body with a large surface area, the force applied by the drive unit 2 felt by the human body is small, and the relaxation massage phase can be maintained for several seconds to several minutes. When the massage component 3 further advances to the extended position or the second position toward the body part to be massaged, and at the same time the electro-rheological fluid 305 in the chamber of the massage component 3 is transformed into the solid state, the massage component 3 is in the deep massage stage, as shown in fig. 4B, the electro-rheological fluid 305 transformed into the solid state or the electro-rheological fluid 305 with the viscosity significantly increased makes the massage head 304 in the non-deformable state, so that the massage component 3 contacts the body part to be massaged more deeply, the effect of pressing the inner muscles and bones can be achieved, and the deep massage stage can be maintained for several seconds to several minutes according to the actual requirement. One relaxation massage phase and one depth massage phase form one massage cycle, and the massage device 10 may be programmed to implement a specified number of massage cycles.

Preferably, by the control of the liquid-varying means 5, the electro-rheological liquid 305 contained in the massaging assembly 3 gradually transforms from a liquid to a solid state, with the massaging head 304 also gradually stiffening. Since the massage head 304 is always in contact with the surface of the human body during the process of applying the massage force and the medium therein is gradually changed from liquid to solid, the part of the massage head 304 in contact with the human body will eventually form a contour completely fitting the part to be massaged, so that the massage head 304 can maintain the contour with a certain strength during the deep massage stage and press the part of the human body with the most fitting contour shape, as shown in fig. 4B, thereby effectively avoiding the injury caused by improper massage during the deep massage and achieving a more significant physical therapy effect.

When one pressing action is finished, the push rod 204 retracts, and during the retraction process, the electric field applied to the electro-rheological fluid 305 by the fluid change device 5 can be directly cancelled or gradually reduced to the minimum, and when the massage assembly 3 returns to the retraction position, the electro-rheological fluid 305 therein returns to the liquid state for the next massage cycle. Thus, during each pressing of the massage apparatus 10, the electro-rheological fluid 305 undergoes a transition from a low viscosity liquid state to a high viscosity liquid or solid state, so that the massage head 304 can form the most fitting contour each time, and even if the human body position changes between two massage cycles, the contour of the massage head 304 can be adaptively adjusted in real time, so that the massage effect is optimized.

Other variations are possible within the principles of the invention.

In another embodiment according to the present invention, the electro-rheological fluid 305 may be replaced by a magneto-rheological fluid. Specifically, the chamber of the massage assembly 3 is filled with magnetorheological fluid. The hydro-rheological device 5 in the massage device 10 is configured as a magnetic field controller and magnetic poles that controllably apply a magnetic field according to the principle of magneto-rheological fluid.

Similar to the massage device 10 using the electro-rheological fluid 305, the magnetic pole may be provided on the middle portion of the massage assembly 3, and may or may not directly contact the magneto-rheological fluid.

In an alternative embodiment, the drive means 2 may drive the massage assembly 3 in a non-linear manner. For example, the driving means 2 may comprise a rolling mechanism such as a cam and/or a curved sliding track or trajectory, so as to drive the massaging assembly 3 in a meandering manner towards the area to be massaged.

In an alternative embodiment, the electrodes or poles of the hydro-rheological device 5 may be disposed directly on the rear end 301 of the massage assembly 3. In other alternative embodiments, the poles may be held directly by the support frame 1 in a position close to the massage assembly.

In an alternative embodiment, the electrodes may be disposed on the end of the drive device where the pushrod protrudes into the smart fluid.

In other alternative embodiments, the massage assembly 3 may comprise a single unitary elastomeric massage member having a rigid support ring wrapped around the middle or rear end of the massage member, the support ring being supported by the support frame 1. The support ring is also used to support the electrode or pole.

With the massage device according to the invention, the massage assembly achieves two distinct states in use by means of the smart fluid therein: one is a softer, deformable state and the other is a harder, substantially non-deformable state; and these two states recur during the massage process. Therefore, the part of the massage component contacting with the human body can be deformed to the outline most fitting with the massage part, so as to avoid the massage injury, and the safety of the massage device is better. Meanwhile, the massage device can carry out deep massage with the most fit outline, so that the physical therapy effect is obviously improved.

Although the present invention has been disclosed in terms of the preferred embodiment, it is not intended to limit the invention, and variations and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. Therefore, any modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope defined by the claims of the present invention, unless the technical essence of the present invention departs from the content of the present invention.

Claims

1. A massage device (10) comprising:

a support frame (1);

a drive (2), said drive (2) being mounted to said support frame (1); and

a massage assembly (3), the massage assembly (3) being operatively connected to the drive means (2) and the interior of the massage assembly (3) forming a chamber and a massage medium being filled in the chamber, characterized in that,

the massage device (10) further comprises a liquid change device (5), the liquid change device (5) controls the massage medium to reversibly change between a first state and a second state,

when the massage medium is in the first state, the massage medium is in a liquid state with first viscosity, and when the massage medium is in the second state, the massage medium is in a liquid state or a solid state with second viscosity higher than the first viscosity.

2. The massaging apparatus (10) of claim 1, wherein the massaging medium comprises electro-rheological fluid (305),

the liquid-change device (5) comprises an electric field controller and an electrode (501), wherein the electrode (501) is arranged to apply an electric field to the electro-rheological liquid (305), and the electric field controller is configured to control the magnitude of the electric field applied by the electrode.

3. The massage apparatus (10) of claim 1, wherein the massage medium comprises a magnetorheological fluid,

wherein the hydro-rheological device (5) comprises a magnetic field controller and a magnetic pole, the magnetic pole being arranged to apply a variable magnetic field to the massage medium, and the magnetic field controller being configured to control the magnitude of the magnetic field applied by the magnetic pole.

4. A massaging apparatus (10) as claimed in any one of the claims 1 to 3, characterized in that at least a part of the massaging assembly (3) is composed of an elastomer, the outer contour of which can be varied as a function of the form of the massaging medium.

5. A massaging apparams (10) as claimed in claim 1, wherein said drive means (2) comprises an actuator selected from one of pneumatic means, an electric motor, an electric oil hydraulic pump and an electric pneumatic means.

6. The massage apparatus (10) of claim 5, wherein the drive (2) further comprises a push rod (204) coupled to the actuator, the actuator operable to move the push rod (204) between an extended position and a retracted position, the massage assembly (3) being coupled to the push rod (204) and reciprocating with the push rod (204) between the extended position and the retracted position.

7. The massaging apparatus (10) of claim 6, wherein the hydraulic means (5) is arranged to place the massaging medium (305) in the first state when the actuator operates the push rod (204) in the retracted position,

the hydraulic varying device (5) is arranged to bring the massage medium (305) in the second state when the actuator operates the push rod in the extended position.

8. The massaging apparatus (10) of claim 1, wherein the massaging assembly (3) comprises a massaging head (304) distal to the drive means (2), an intermediate portion (302) and a rear end portion (301) proximal to the drive means (2), the massaging head (304) being made of an elastomeric material, the massaging head (304) and the rear end portion (304) being sealingly connected to both sides of the intermediate portion (302) to form the chamber, respectively.

9. The massaging apparatus (10) of claim 8, wherein the support frame (1) is provided with a window (1013), the massage assembly (3) passes through the window (1013) and the intermediate portion (301) is supported by the support frame (1).

10. The massaging apparatus (10) as claimed in claim 8, characterized in that the rear end (301) is made of an elastomer material, the drive means (2) having an end of a telescopic push rod (204) connected to the rear end (304).

11. The massage apparatus (10) of claim 8, wherein the massage medium comprises electro-rheological fluid (305), the fluid varying device (5) comprising an electric field controller and electrodes disposed on the intermediate portion (302) and in direct contact with the massage medium within the chamber through the intermediate portion (302).

12. A control method of a massage apparatus (10), the massage apparatus (10) comprising:

a drive device (2);

a massage assembly (3) actuated by the drive means (2) to move between a retracted position and an extended position, the massage assembly (3) forming a chamber internally and a massage medium filled within the chamber; and

the massage device (10) also comprises a liquid change device (5) which applies an electric field or a magnetic field to the massage medium (305) to change the phase state of the massage medium (305),

the control method comprises the following steps:

when the drive means (2) brings the massage assembly (3) into the retracted position, the hydraulic means (5) control the massage medium (305) to assume a liquid state having a first viscosity;

when the drive means (2) brings the massage assembly (3) into the extended position, the hydro-rheological means (5) controls the massage medium (305) to assume a liquid or solid state having a second viscosity higher than the first viscosity.

13. The control method according to claim 12, characterized in that the hydraulic means (5) controls the viscosity of the massage medium (305) to be gradually increased during the movement of the massage assembly (3) from the retracted position to the extended position,

and the hydraulic means (5) controls the massage medium (305) to return to the liquid state having the first viscosity when the massage assembly (3) is retracted from the extended position to the retracted position.

14. A massaging method for massaging with the massaging apparatus (10) of any one of claims 1-11, the massaging method comprising:

a relaxing massage stage, in which the massage component (3) is in a first position in contact with the surface layer of the part to be massaged, and the massage medium is in the first state; and

a deep massage phase, in which the massage assembly (3) is moved towards the massaged site to a second position, the massage medium (305) being in the second state.