( 12 ) United States Patent
`Nazarian et al .
`
`US 10,940,081 B2
`( 10 ) Patent No .:
`( 45 ) Date of Patent :
`Mar. 9 , 2021
`
`USO10940081B2
`
`( 54 ) PERCUSSIVE MASSAGE DEVICE WITH
`FORCE METER
`( 71 ) Applicant : Theragun , Inc. , Beverly Hills , CA ( US )
`( 72 ) Inventors : Benjamin Nazarian , Beverly Hills , CA
`( US ) ; Jason Wersland , Manhattan
`Beach , CA ( US ) ; Jaime Sanchez
`Solana , Los Angeles , CA ( US ) ;
`Eduardo Merino , Beverly Hills , CA
`( US ) ; Richard Tang , Shenzhen ( CN )
`( 73 ) Assignee : THERAGUN , INC . , Beverly Hills , CA
`( US )
`Subject to any disclaimer , the term of this
`patent is extended or adjusted under 35
`U.S.C. 154 ( b ) by 0 days .
`( 21 ) Appl . No .: 16 / 796,143
`( 22 ) Filed :
`Feb. 20 , 2020
`( 65 )
`Prior Publication Data
`US 2020/0352820 A1
`Nov. 12 , 2020
`Related U.S. Application Data
`( 60 ) Provisional application No. 62 / 844,424 , filed on May
`7 , 2019 , provisional application No. 62 / 899,098 , filed
`( Continued )
`
`( * ) Notice :
`
`( 51 ) Int . Ci .
`A61H 23/00
`HO2P 29/40
`
`( 2006.01 )
`( 2016.01 )
`( Continued )
`( 52 ) U.S. CI .
`??? ........... A61H 23/006 ( 2013.01 ) ; A61H 23/02
`( 2013.01 ) ; A61H 23/0254 ( 2013.01 ) ;
`( Continued )
`
`700
`
`( 58 ) Field of Classification Search
`CPC .......... A61H 1/00 ; A61H 1/006 ; A61H 1/008 ;
`A61H 23/00 ; A61H 23/004 ; A61H
`23/006 ;
`
`( 56 )
`
`( Continued )
`References Cited
`U.S. PATENT DOCUMENTS
`3,172,675 A
`3,545,301 A
`
`3/1965 Gonzalez
`12/1970 Richter
`( Continued )
`FOREIGN PATENT DOCUMENTS
`
`JP
`JP
`
`1/1990
`1990019157
`1995051393
`2/1995
`( Continued )
`
`OTHER PUBLICATIONS
`PCT / US2016 / 038326 International Search Report & Written Opin
`ion dated Sep. 1 , 2016 .
`
`( Continued )
`Primary Examiner Colin W Stuart
`( 74 ) Attorney , Agent , or Firm — Jeffer Mangels Butler &
`Mitchell LLP ; Brennan C. Swain , Esq .
`( 57 )
`ABSTRACT
`A percussive massage device with a force meter that
`includes a housing , an electrical source , a motor positioned
`in the housing , a switch for activating the motor , and a
`controller configured to obtain a voltage of the motor ,
`generate a lookup table correlating voltage to force applied
`by the percussive massage device , and display a force
`magnitude corresponding to the obtained voltage using the
`lookup table .
`
`20 Claims , 16 Drawing Sheets
`
`408
`
`406
`
`404
`
`402
`
`Petitioner Therabody Ex-1024, 0001
`
`

`

`US 10,940,081 B2
`Page 2
`
`Related U.S. Application Data
`on Sep. 11 , 2019 , provisional application No. 62/912 ,
`392 , filed on Oct. 8 , 2019 .
`( 51 ) Int . Ci .
`HO2K 7/14
`HO2K 11/26
`HO2K 11/00
`A61H 23/02
`GOIL 5/00
`( 52 ) U.S. Ci .
`CPC
`
`( 2006.01 )
`( 2016.01 )
`( 2016.01 )
`( 2006.01 )
`( 2006.01 )
`
`GOIL 5/0038 ( 2013.01 ) ; H02K 7/145
`( 2013.01 ) ; H02K 1170094 ( 2013.01 ) ; HOCK
`11/26 ( 2016.01 ) ; H02P 29/40 ( 2016.02 ) ; A61H
`2201/5007 ( 2013.01 ) ; A61H 2201/5043
`( 2013.01 ) ; A61H 2201/5061 ( 2013.01 )
`( 58 ) Field of Classification Search
`CPC
`A61H 23/02 ; A61H 23/0218 ; A61H
`23/0254 ; A61H 23/0263 ; A61H 23/04 ;
`A61H 23/06 ; A61H 2023/002 ; A61H
`2023/0209 ; A61H 2023/0272 ; A61H
`2023/0281 ; A61H 2023/029 ; A61H 39/00 ;
`A61H 39/002 ; A61H 39/007 ; A61H
`39/04 ; A61H 2201/0165 ; A61H 2201/12 ;
`A61H 2201/1207 ; A61H 2201/1215 ;
`A61H 2201/1223 ; A61H 2201/123 ; A61H
`2201/1238 ; A61H 2201/14 ; A61H
`2201/1409 ; A61H 2201/1418 ; A61H
`2201/1481 ; A61H 2201/149 ; A61H
`2201/1664 ; B23D 51/16 ; B23D 49/162 ;
`B23D 49/165 ; B23D 49/00 ; B23D
`49/007 ; B23D 49/008 ; B23D 49/10 ;
`B23D 49/16 ; B23D 49/167 ; B26D
`7/2621 ; B26D 7/2614 ; B26D 5/14 ; A61B
`17/148 ; A61B 17/142 ; A61B 17/14 ; A61B
`17/144 ; A61B 5/0048 ; A61B 5/0053 ;
`A61B 5/103 ; B27B 19/00 ; B27B 19/002 ;
`B27B 19/006 ; B27B 19/09 ; B27B 19/02 ;
`B27B 11/06 ; HO2P 29/40 ; HO2K 7/145 ;
`HO2K 11/26 ; HO2K 11/0094 ; GOIL
`5/0038
`83/615 , 623 , 632 , 626 , 427 ; 30/392 , 393 ,
`30/394 , 182 , 208 , 241 , 217–220 , 242 ;
`173/49 , 114 , 122 , 205 ; 227/131 ; D8 / 8 ,
`D8 / 61 , 64 ; 144/121 , 122 , 147 ;
`125 / 16.01 ; 76/31 , 36 ; 601/97 , 107
`See application file for complete search history .
`References Cited
`
`USPC
`
`( 56 )
`
`U.S. PATENT DOCUMENTS
`
`3,626,934 A
`3,942,251 A
`4,150,668 A
`4,173,217 A
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`4,566,442 A
`4,730,605 A
`5,085,207 A
`5,212,887 A
`5,417,644 A
`5,569,168 A
`5,573,500 A
`5,951,501 A
`6,228,042 B1
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`12/1971 Andis
`3/1976 Griffies
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`10/1985 Wing
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`3/1988 Noble et al .
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`5/1993 Farmerie
`5/1995 Lee et al .
`10/1996 Hartwig
`11/1996 Katsunuma
`9/1999 Griner
`5/2001 Dungan
`
`6,663,657 B1
`6,682,496 B1
`7,927,259 B1
`7,996,996 B2
`8,342,187 B2
`8,951,216 B2
`10,314,762 B1
`2001/0016697 Al
`2003/0009116 Al
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`2006/0025710 A1
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`2008/0103419 Al
`2011/0314677 A1 *
`
`2012/0238922 A1 *
`
`2012/0253245 Al
`2013/0133210 A1
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`2013/0261516 A1
`2013/0281897 Al
`2014/0031866 A1 *
`
`12/2003 Miller
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`1/2013 Kalman
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`1/2003 Luettgen
`5/2003 Waldron
`7/2003 Lin
`10/2003 Miller
`2/2006 Schulz
`6/2006 Wadge
`8/2006 Kageler
`6/2007 Pozgay
`6/2007 Colloca
`5/2008 Adamson
`12/2011 Meier
`9/2012 Stemple
`10/2012 Stanbridge
`5/2013 Weir
`5/2013 Lerro
`9/2013 Alexander
`10/2013 Cilea
`10/2013 Hoffmann
`1/2014 Fuhr
`
`6/2014 Turner
`2014/0180331 A1
`2014/0316313 A1 * 10/2014 Mayer
`2015/0005682 A1
`1/2015 Danby
`2015/0148592 Al
`5/2015 Kanbar
`2015/0257964 Al
`9/2015 Ajiki
`2016/0206502 A1 *
`7/2016 Koltzow
`2016/0310353 A1 10/2016 Barasch
`2017/0312161 A1 * 11/2017 Johnson
`2020/0009010 A1 *
`1/2020 Park
`2020/0179215 A1 *
`6/2020 Lerner
`2020/0230012 A1 *
`7/2020 Fuhr
`
`A46B 13/02
`30 / 41.8
`A61H 31/005
`601/41
`
`A61H 1/008
`606/239
`
`A43B 7/147
`601/84
`
`A61H 1/008
`A61H 1/006
`A61H 23/006
`A61H 1/0266
`A61H 23/00
`
`FOREIGN PATENT DOCUMENTS
`
`JP
`JP
`JP
`KR
`WO
`WO
`WO
`WO
`WO
`
`003077837
`2005204777
`2010534110
`101123926
`0119316 A1
`2009014727
`2014118596
`2015038005
`2018012105 Al
`
`6/2001
`4/2005
`11/2010
`4/2012
`3/2001
`1/2009
`8/2014
`3/2015
`1/2018
`
`OTHER PUBLICATIONS
`PCT / US2018 / 022426 International Search Report & Written Opin
`ion dated May 31 , 2018 .
`AU 2016284030 Examination Report dated May 7 , 2018 .
`JP2018-517683 Office Action .
`CA 2990178 Office Action .
`WORX Trans4mer “ Safety and Operating Manual Original Instruc
`tions ” for 12V Li - Ion Multi - purpose saw , WX540 , WX540.3 ,
`VVX540.9 , 2013 .
`Rachel [ no family name indicated ] , " Jigsaw Massager ” , Apr. 18 ,
`2010 ( https://web.archive.org/web/20100418041422/ http : // www .
`instructables.com/id/Jigsaw-Massager/ ) .
`Rockwell Trans4mer Operating Manual for Multi - purpose saw ,
`Model RK2516 / RK2516K , 2011 .
`International Search Report and Written Opinion issued in PCT /
`US20 / 31347 .
`* cited by examiner
`
`Petitioner Therabody Ex-1024, 0002
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 1 of 16
`
`US 10,940,081 B2
`
`FIRMWARE
`
`UPGRADING
`
`OVER - CURRENT PROTECTION
`
`MOTOR
`
`SPEED SETUP
`PWM
`
`DRIVE SYSTEM
`MOTOR
`
`715
`
`714
`
`MCU
`
`5V 3.3V
`
`VOLTAGE MANAGEMENT
`CHARGING MANAGEMENT
`POWER
`PACK MANAGEMENT
`BATTERY
`
`
`
`FORCE / BATTERY I SPEED DISPLAY
`
`
`2.25A CHARGING INPUTS
`20V
`
`708
`
`707
`
`709
`of ?
`
`CHARGING MANAGEMENT
`WIRELESS
`
`SYS .
`
`
`
`WIRELESS CHARGING RECEIVING
`
`704
`
`706
`
`
`
`NTC SENSOR
`
`702
`
`703
`
`705
`
`FIG . 1
`
`716
`
`713
`
`711
`
`709
`
`SCREEN CONTROL SYSTEM
`
`
`
`OLED SCREEN
`
`
`OLED
`1
`
`FORCE / BATTERY SPEED DISPLAY
`
`OLED SCREEN SW
`POWER ON / OFF
`
`717
`
`712
`
`701
`
`BLUETOOTH
`CONTROL T 710
`H
`BLUETOOTH CONTROL
`
`Petitioner Therabody Ex-1024, 0003
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 2 of 16
`
`US 10,940,081 B2
`
`SWCLK
`
`SWDIO
`
`PA14
`
`PA15
`
`PA13
`
`OLED SWITCH
`
`PA12
`
`PB3
`
`PB4
`
`PB5
`
`PB6
`
`PB7
`
`BOOTO
`
`VSS
`
`OLED_RES
`
`IN
`
`CHARGE
`X
`X
`
`
`
`MCU TX
`
`
`
`MCU RX
`
`R48
`
`=
`
`PWM
`
`FG
`
`ST / ST
`
`C27
`
`MG POWER
`
`
`
`+ 3.3V MCU
`
`PA11
`
`PA10
`
`PAS
`
`STM32F030
`
`NRST
`
`VDDA
`
`PAO
`
`PA1
`
`PA2
`
`VSS
`
`PB1
`
`PBO
`
`PAT
`
`PA6
`
`PA5
`
`PA4
`
`PA3
`
`HUI
`*
`
`FULL
`
`CHARG
`
`
`
`CHARGE CE
`
`ELE
`
`CHARG
`
`
`
`NTC TEST
`
`
`
`KEY AD
`
`
`
`MOTOR VOL
`
`FIG . 2
`
`U6
`
`R58
`
`D4
`
`
`
`+ 3.3V MCU
`
`SCL
`
`SDA
`
`NRST
`
`DC IN
`
`WIFI IN
`
`bt v
`
`C26
`
`C25
`=
`
`Petitioner Therabody Ex-1024, 0004
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 3 of 16
`
`US 10,940,081 B2
`
`MCU
`
`R
`
`M
`
`FIG . 4
`
`522
`
`523
`
`520
`
`519
`11
`
`529
`
`526 526
`
`524 .
`
`528
`
`527
`
`518
`
`525
`
`bt v
`
`521
`
`FIG . 3
`
`Petitioner Therabody Ex-1024, 0005
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 4 of 16
`
`US 10,940,081 B2
`
`902
`
`904
`
`906
`
`908
`
`910
`
`
`
`
`
`DIVIDE Fmax INTO
`
`EQUAL INCREMENTS
`
`
`
`
`
`EQUAL TO NUMBER OF Fmax INCREMENTS
`INTO INCREMENTS DIVIDE Vmax
`
`Vmax INCREMENTS TO Fmax INCREMENTS
`GENERATE LUT CORRELATING
`
`FIG . 6
`
`
`
`DISPLAY FORCE
`
`FON PERCUSSIVE MASSAGE DEVICE
`
`FIG . 5
`
`
`
`DESIRED FORCE DETERMINE Fmax BASED ON MAXIMUM
`
`
`
`
`
`
`DETERMINE Vmax
`
`
`BASED ON MAXIMUM THEORETICAL VOLTAGE CHANGE OF BATTERY
`PACK
`
`
`
`
`MASSAGE DEVICE
`VOLTAGE V FROM MOTOR OF PERCUSSIVE OBTAIN
`
`800
`
`900
`
`802
`
`804
`
`806
`
`
`
`
`
`
`
`GENERATE LOOKUP TABLE CORRELATING VOLTAGE TO FORCE
`
`Petitioner Therabody Ex-1024, 0006
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 5 of 16
`
`US 10,940,081 B2
`
`
`
`
`
`WITH LOAD CHANGE ( V )
`
`9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`0.03 0.06 0.09 0.120.150.18 0.21 0.240.27 0.3 0.330.360.390.420.450.480.51 0.54 0.57 0.6 0.630.66 | 0.69 0.72 0.75 0.78 0.81 0.840.870.9 0.93 | 0.96 0.99 1.02 1.051.08 1.11 1.14 1.17 1.2 1.23 1.26 1.291.32 1.38 1.38 1.41 1.44 1.47
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`1.5 1.531.56 1.591.62 1.65 1.68 1.71 1.741.77 1.8
`
`
`
`
`
`
`
`50 51 52 53 54 55 56 57 58 59 60
`
`8
`
`67
`
`5
`
`2 3 4
`
`1
`
`POWER ( W )
`FORCE ( LB )
`
`FORCE ( LB )
`POWER ( W )
`
`
`
`LOOKUP OF FORCE METER
`
`FIG . 7
`
`16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60
`
`15
`14
`
`11 12 13
`10 11
`
`9
`
`8
`
`7
`
`6
`
`5
`
`3
`
`2
`
`2
`
`1.8 1.6 - 1.4 1.2
`
`0.8
`
`1
`
`0.6 0.4 0.2 0
`
`Petitioner Therabody Ex-1024, 0007
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 6 of 16
`
`US 10,940,081 B2
`
`1002
`
`F ?
`
`1004
`
`1006
`
`LINEAR CORRELATION TO REFLECT LOWER
`Vmax
`ADJUST LUT
`
`FIG . 8
`
`SET
`
`Vmax TO BE EQUAL TO BATTERY PACK VOLTAGE BV
`
`
`
`
`
`
`
`
`
`OBTAIN BATTERY PACK VOLTAGE BV
`
`1000
`
`Petitioner Therabody Ex-1024, 0008
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 7 of 16
`
`US 10,940,081 B2
`
`VOLTAGE COMPENSATION
`CALIBRATED FORCE VIA
`
`
`60
`59
`58
`56 57
`55
`54
`53
`
`49 50 51 52
`
`48
`47
`45 46
`43 44
`42
`41
`40
`39
`37 38
`
`35
`32 33 34 36
`
`29 31 30
`
`27 28
`
`19 20 21 22 23 24 25 26
`
`18
`T
`17
`16
`15
`14
`13
`12
`10 11
`
`FIG . 9
`
`
`
`ALGORITHM CALCULATED FORCE VIA
`
`
`
`9
`
`8
`
`7
`
`6
`
`5
`
`4
`
`3
`
`2
`
`1
`
`2.0000
`
`1.8000
`
`1.6000
`
`1.4000
`
`1.2000
`
`1.0000
`
`0.8000
`
`0.6000
`
`0.4000
`
`0.2000
`
`0.0000
`
`Petitioner Therabody Ex-1024, 0009
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 8 of 16
`
`US 10,940,081 B2
`
`1100
`
`1102
`
`1104
`
`1106
`
`1108
`
`MEASURE BATTERY PACK
`VOLTAGE BV
`
`READ DISPLAY OF DEVICE TO
`DETERMINE FORCE MAGNITUDE F
`CORRESPONDING TO BATTERY PACK
`VOLTAGE BV
`
`MEASURE ACTUAL FORCE
`WITH PUSH / PULL FORCE
`METER
`
`UPDATE LUT WITH
`CORRECTED FORCE F
`CORRESPONDING WITH
`MEASURED BATTERY PACK
`VOLTAGE BV
`
`ALL
`VOLTAGE INCREMENTS
`COMPLETED
`?
`
`NO
`
`YES
`
`DONE
`
`FIG . 10
`
`Petitioner Therabody Ex-1024, 0010
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 9 of 16
`
`US 10,940,081 B2
`
`
`
`FINAL CALIBRATED FORCE METER
`
`
`
`
`
`FIG . 11
`
`38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60
`
`36 37
`35
`33 34
`
`30 31 32
`
`21 22 23 24 25 26 27 28 29 30
`
`14 15 16 17 18 19 20 21
`
`10 11 12 13
`
`9
`
`8
`
`7
`
`6
`
`5
`
`4
`
`3
`
`2
`
`1
`
`2 1.8
`
`1.6 1.4
`
`1.2 1 0.8
`
`0.6
`
`0.4
`
`0.2 0
`
`Petitioner Therabody Ex-1024, 0011
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 10 of 16
`
`US 10,940,081 B2
`
`1304
`
`1306
`
`1308
`
`1310
`
`DETERMINE MINIMUM AMOUNT OF POWER
`
`
`Pmin WHEN NO LOAD APPLIED
`
`DETERMINE MAXIMUM FORCE
`
`
`MAGNITUDE Fmax TO BE APPLIED BY DEVICE
`
`
`
`POWER INCREMENTS
`
`
`MAGNITUDE INTO EQUAL DIVIDE MAXIMUM POWER
`
`
`GENERATE
`
`LUT CORRELATING INCREMENTS OF Fmax TO INCREMENTS OF Pmax
`
`FIG . 13
`
`11 1302
`
`DETERMINE MAXIMUM MAGNITUDE OF POWER Pmax
`INPUT TO DEVICE
`
`1300 100
`
`1202
`
`1204
`
`1206
`
`1208
`
`1210
`
`
`
`MAGNITUDE BV OBTAIN BATTERY PACK VOLTAGE
`
`
`
`
`
`
`
`CALCULATE POWER MAGNITUDE P FROM PRODUCT OF C AND BV
`
`
`GENERATE
`
`LUT CORRELATING POWER MAGNITUDE P TO FORCE MAGNITUDE F
`
`
`
`DISPLAY FORCE MAGNITUDE F CORRESPONDING TO POWER MAGNITUDE P ON DISPLAY
`
`FIG . 12
`
`
`
`MAGNITUDE C OBTAIN BATTERY PACK CURRENT
`
`
`
`
`
`1200
`
`Petitioner Therabody Ex-1024, 0012
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 11 of 16
`
`US 10,940,081 B2
`
`
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`
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`1051111111711231 1291 135 147 147 153 159 165 177 1777
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`
`8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46
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`
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`
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`FORCE METER - POWER MODE
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`99 | 105
`
`
`
`
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`12 18 24 30 36 42 48 54 60 66 72 78 84 90 96 102 108 114 120 126 132 138 144 150 156 162 168 174 180
`
`FIG . 14
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`9 12 15 18 21 24 27 30 33 36 39 42 45 48 51 54 57 60 63 66 69 72 75 78 81 84 87 90 93 96 99 102 105 108 111 114 117 120 123 126 129 132 135 138 141 144 147
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`
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`47 48 49 50 51 52 53 54 55 56 57
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`9 15 | 21 27 33 39 45 51 57 63 69 75 81 87 93
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`
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`150 153 156 159 162 165 168 171 174 177 180
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`6 7
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`5
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`4
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`3
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`2
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`1
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`000
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`6
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`3
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`POWER ( W )
`FORCE ( LB )
`
`POWER ( W )
`FORCE ( LB )
`
`70
`
`60
`
`50
`
`40
`
`30
`
`20
`
`6
`
`3
`10 0
`
`Petitioner Therabody Ex-1024, 0013
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 12 of 16
`
`US 10,940,081 B2
`
`1400
`
`1402
`
`OBTAIN BATTERY PACK
`CURRENT MAGNITUDE C
`
`OBTAIN BATTERY PACK
`VOLTAGE MAGNITUDE BV
`
`1406
`
`1408
`
`1410
`
`1412
`
`CALCULATE POWER
`MAGNITUDE P FROM
`PRODUCT OF C AND BV
`
`1404
`
`READ DISPLAY OF DEVICE TO
`DETERMINE FORCE MAGNITUDE
`F CORRESPONDING TO BATTERY
`PACK VOLTAGE BV
`
`MEASURE ACTUAL FORCE
`WITH PUSH / PULL FORCE
`METER
`
`UPDATE LUT WITH
`CORRECTED FORCE F
`CORRESPONDING WITH
`MEASURED POWER P
`
`ALL
`FORCE INCREMENTS
`COMPLETED
`?
`
`NO
`
`FIG . 15
`
`YES
`
`DONE
`
`Petitioner Therabody Ex-1024, 0014
`
`

`

`U.S. Patent
`
`Mar. 9 , 2021
`
`Sheet 13 of 16
`
`US 10,940,081 B2
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`
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`
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`FINAL CALIBRATED FORCE METER - POWER MODE
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`
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`
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`171 77
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`135 147
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`99 | 105 | 1111117 123 129 | 135 | 141 147 | 153 159 165 1174 1177
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`84 90 96 102 108 114 120 126 132 138 144 150 156 162 168 174 180
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`87 93
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`FIG . 16
`
`78
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`57 63 69 54 60 66 72
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`1757811
`13945511
`
`48
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`42
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`27 33
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`12 18 24 30 36
`1 211
`9 15 21
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`T
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`6
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`3
`0
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`70
`
`60
`
`50
`
`40
`
`30
`
`20
`
`10
`
`Petitioner Therabody Ex-1024, 0015
`
`

`

`U.S. Patent
`U.S. Patent
`
`Mar.9, 2021
`Mar. 9 , 2021
`
`Sheet 14 of 16
`Sheet 14 of 16
`
`US 10,940,081 B2
`US 10,940,081 B2
`
`
`
`404
`
`FIG . 17
`
`402
`
`410
`
`700
`
`Petitioner Therabody Ex-1024, 0016
`
`Petitioner Therabody Ex-1024, 0016
`
`

`

`U.S. Patent
`U.S. Patent
`
`Mar.9, 2021
`Mar. 9 , 2021
`
`Sheet 15 of 16
`Sheet 15 of 16
`
`US 10,940,081 ?2
`US 10,940,081 B2
`
`- 404
`
`402
`
`408
`
`FIG . 18
`
`406
`
`FIG.18
`
`?
`
`700
`
`)
`
`Petitioner Therabody Ex-1024, 0017
`
`Petitioner Therabody Ex-1024, 0017
`
`

`

`U.S. Patent
`U.S. Patent
`
`Mar.9, 2021
`Mar. 9 , 2021
`
`Sheet 16 of 16
`Sheet 16 of 16
`
`US 10,940,081 B2
`US 10,940,081 B2
`
`406
`406
`
`
`
`FIG . 19
`
`Petitioner Therabody Ex-1024, 0018
`
`Petitioner Therabody Ex-1024, 0018
`
`

`

`US 10,940,081 B2
`
`1
`PERCUSSIVE MASSAGE DEVICE WITH
`FORCE METER
`
`FIELD OF THE INVENTION
`The present invention relates generally to a percussive
`massage device with a force meter .
`BACKGROUND OF THE INVENTION
`Percussive massage devices have become increasingly
`popular in recent years . However , when using the device , it
`is often difficult for users
`know if they are applying the
`proper amount of pressure or force . The present invention
`addresses this issue .
`
`2
`maximum magnitude of voltage configured to be applied to
`the percussive massage device from a power source , divid
`ing the maximum magnitude of force into equal force
`increments , and dividing the maximum magnitude of volt
`CROSS REFERENCE TO RELATED
`5 age into equal voltage increments , wherein the number of
`APPLICATIONS
`equal force increments and the number of equal voltage
`increments is the same .
`This application claims the benefit of U.S. Provisional
`In a preferred embodiment , the method includes obtaining
`Application No. 62 / 844,424 , filed May 7 , 2019 , U.S. Pro
`a maximum power source voltage of the percussive massage
`visional Application No. 62 / 899,098 , filed Sep. 11 , 2019 and
`U.S. Provisional Application No. 62 / 912,392 , filed Oct. 8 , 10 device , setting the maximum power source voltage to be the
`maximum magnitude of voltage , dividing the maximum
`2019 , the entireties of which are incorporated herein by
`magnitude of voltage into equal voltage increments , wherein
`reference .
`the number of equal force increments and the number of
`equal voltage increments is the same , generating an updated
`15 lookup table correlating voltage to force applied by the
`percussive massage device corresponding to the range of
`voltages determined by the maximum power source voltage ,
`and displaying a calibrated force magnitude corresponding
`to the power source voltage using the updated lookup table .
`20 In a preferred embodiment , the method includes obtaining at
`least two power source voltages each corresponding to a
`magnitude of force , wherein the magnitude of force is
`determined from the displayed force magnitude , measuring
`a magnitude of force exerted by the percussive massage
`25 device using an external force meter for each of the at least
`two power source voltages , and generating an updated
`lookup table correlating voltage to force applied by the
`SUMMARY OF THE PREFERRED
`percussive massage device corresponding to the measured
`EMBODIMENTS
`magnitudes of force .
`In a preferred embodiment , the method includes display
`In accordance with a first aspect of the present invention 30
`ing a calibrated force magnitude corresponding to the mea
`there is provided a percussive massage device with a force
`sured magnitudes of force using the updated lookup table .
`meter that includes a housing , an electrical source , a motor
`Preferably , the lookup table is updated for each magnitude
`positioned in the housing , a switch for activating the motor ,
`of force capable of being displayed on the percussive
`and a controller configured to obtain a voltage of the motor ,
`generate a lookup table correlating voltage to force applied 35 massage device .
`by the percussive massage device , and display a force
`In accordance with another aspect of the present invention
`magnitude corresponding to the obtained voltage using the
`there is provided a method of displaying force of a percus
`lookup table . In a preferred embodiment , the lookup table is
`sive massage device that includes obtaining a current mag
`generated by determining a maximum magnitude of force
`nitude of a battery pack of the percussive massage device ,
`configured to be applied by the percussive massage device , 40 obtaining a voltage magnitude of the battery pack , deter
`determining a maximum magnitude of voltage configured to
`mining a power magnitude using the current magnitude and
`be applied to the percussive massage device from a power
`voltage magnitude of the battery pack , generating a lookup
`source , dividing the maximum magnitude of force into equal
`table correlating power magnitude to force magnitude
`force increments , and dividing the maximum magnitude of
`applied by the percussive massage device , and displaying a
`voltage into equal voltage increments . The number of equal 45 force magnitude corresponding to the obtained power mag
`force increments and the number of equal voltage incre-
`nitude using the lookup table . In a preferred embodiment ,
`ments is the same . Preferably , the percussive massage device
`the force magnitude is displayed utilizing a series of LEDs
`includes a battery pack and a display configured to depict an
`which are activated corresponding with the force magnitude .
`amount of force applied by the percussive massage device .
`Preferably , the lookup table is generated by determining a
`In a preferred embodiment , the display includes a series of 50 maximum power magnitude to be input into the percussive
`LEDs . In a preferred embodiment , the percussive massage
`massage device , determining a minimum power magnitude
`device includes an organic light - emitting diode screen .
`of the percussive massage device when no load is applied to
`In a preferred embodiment , the motor is a brushless
`the percussive massage device , determining a maximum
`direct - current ( BLDC ) motor . Preferably , the percussive
`force magnitude configured to be applied to the percussive
`massage device includes a voltage - sensing resistor electri- 55 massage device from a power source , dividing the maximum
`cally coupled to the BLDC motor and the controller .
`power magnitude into equal power increments , and dividing
`In accordance with another aspect of the present invention
`the maximum force magnitude into equal force increments .
`there is provided a method of displaying force of a percus-
`The number of equal power increments and the number of
`sive massage device that includes obtaining a voltage of a
`equal force increments is the same . Preferably , the maxi
`motor of the percussive massage device , generating a lookup 60 mum power magnitude is a maximum effective power
`table correlating voltage to force applied by the percussive
`magnitude derived from a total effective power .
`massage device , and displaying a force magnitude corre-
`In a preferred embodiment , the method includes deter
`sponding to the obtained voltage using the lookup table . In
`mining at least two power magnitudes using current and
`a preferred embodiment , the lookup table correlating voltage
`voltage measurements of the battery pack , each correspond
`to force is linear . Preferably , the lookup table is generated by 65 ing to a magnitude of force . The magnitude of force is
`determining a maximum magnitude of force configured to
`determined from the displayed force magnitude . Measuring
`be applied by the percussive massage device , determining a
`a magnitude of force exerted by the percussive massage
`
`Petitioner Therabody Ex-1024, 0019
`
`

`

`US 10,940,081 B2
`
`4
`3
`a lookup table correlating power magnitude to force mag
`device using an external force meter for each of the at least
`nitude applied by the percussive massage device , and dis
`two power magnitudes , and generating an updated lookup
`play a force magnitude corresponding to the obtained power
`table correlating power to force applied by the percussive
`magnitude using the lookup table .
`massage device corresponding to the measured magnitudes
`In an embodiment , a non - transitory computer - readable
`of force . In a preferred embodiment , the method includes 5
`medium has stored thereon software instructions that , when
`displaying a calibrated force magnitude corresponding to the
`executed by a processor , cause the processor to determine at
`measured magnitudes of force using the updated lookup
`least two power magnitudes using current and voltage
`table . Preferably , the lookup table is updated for each
`measurements of the battery pack , each corresponding to a
`magnitude of force capable of being displayed on the
`percussive massage device .
`10 magnitude of force , wherein the magnitude of force is
`determined from the displayed force magnitude , measure a
`It will be appreciated that the inventive features discussed
`magnitude of force exerted by the percussive massage
`herein can be used with any type of percussive massage
`device using an external force meter for each of the at least
`device . For example , the force meter and other features
`two power magnitudes , and generate an updated lookup
`taught herein can be used with the percussive massage
`devices disclosed in U.S. Pat . No. 10,357,425 and U.S. 15 table correlating power to force applied by the percussive
`patent application Ser . No. 16 / 675,772 , filed Nov. 6 , 2019 ,
`massage device corresponding to the measured magnitudes
`the entireties of which are incorporated herein by reference .
`of force .
`In an embodiment , a non - transitory computer - readable
`In a preferred embodiment , the motor , in one embodi
`medium has stored thereon software instructions that , when
`ment , converts power from the power source into motion . In
`executed by a processor , cause the processor to obtain a 20 some embodiments , the motor is an electric motor . The
`voltage of a motor of the percussive massage device , gen-
`electric motor may be any type of electric motor known in
`erate a lookup table correlating voltage to force applied by
`the art , including , but not limited to , a brushed motor , a
`the percussive massage device , and display a force magni-
`brushless motor , a direct current ( DC ) motor , an alternating
`tude corresponding to the obtained voltage using the lookup
`current ( AC ) motor , a mechanical - commutator motor , an
`25 electronic commutator motor , or an externally commutated
`table .
`In an embodiment , the lookup table is generated by
`motor .
`determining a maximum magnitude of force configured to
`In some embodiments , the actuated output or output shaft
`be applied by the percussive massage device , determining a
`reciprocates at a rate of approximately 65 Hz . The actuated
`maximum magnitude of voltage configured to be applied to
`output , in some embodiments , reciprocates at a rate over 50
`the percussive massage device from a power source , divid- 30 Hz . The reciprocating treatment device , in some embodi
`ing the maximum magnitude of force into equal force
`ments , provides reciprocation at a rate ranging between 50
`increments , and dividing the maximum magnitude of volt-
`Hz and 80 Hz . In some embodiments , the actuated output
`age into equal voltage increments . In an embod
`nt , the
`has a maximum articulation rate of between 50 Hz and 80
`number of equal force increments and the number of equal
`Hz . In another embodiment , the actuated output has an
`voltage increments is the same .
`35 articulation rate of between 30 Hz and 80 Hz . In certain
`In another embodiment , a non - transitory computer - read-
`embodiments , the actuated output has an articulation rate of
`able medium has stored thereon software instructions that ,
`approximately 37 Hz . In one embodiment , the actuated
`when executed by a processor , cause the processor to obtain
`output has an articulation rate of approximately 60 Hz . In a
`a maximum power source voltage of the percussive massage
`preferred embodiment , the actuated output articulates or
`device , set the maximum power source voltage to be the 40 reciprocates at a frequency of between about 15 Hz and
`maximum magnitude of voltage , and divide the maximum
`about 100 Hz . In a more preferred embodiment , the actuated
`magnitude of voltage into equal voltage increments , gener-
`output articulates or reciprocates at a frequency of between
`ate an updated lookup table correlating voltage to force
`about 25 Hz and about 48 Hz . In the most preferred
`applied by the percussive massage device corresponding to
`embodiment , the actuated output articulates or reciprocates
`the range of voltages determined by the maximum power 45 at a frequency of between about 33 Hz and about 42 Hz . Any
`source voltage , and display a calibrated force magnitude
`chosen range within the specified ranges is within the scope
`corresponding to the power source voltage using the updated
`of the present invention .
`lookup table .
`The actuated output may move through a predetermined
`In another embodiment , a non - transitory computer - read-
`range of reciprocation . For example , the actuated output
`able medium has stored thereon software instructions that , 50 may be configured to have an amplitude of one half inch . In
`when executed by a processor , cause the processor to obtain
`another embodiment , the actuated output may be configured
`at least two power source voltages each corresponding to a
`to have an amplitude of one quarter inch . As will be
`magnitude of force , wherein the magnitude of force is
`appreciated by one skilled in the art , the actuated output may
`determined from the displayed force magnitude , measure a
`be configured to have any amplitude deemed therapeutically
`magnitude of force exerted by the percussive massage 55 beneficial .
`device using an external force meter for each of the at least
`In some embodiments , the actuated output may be adjust
`two power source voltages ; and generate an updated lookup
`able through a variable range of reciprocation . For example ,
`table correlating voltage to force applied by the percussive
`the reciprocating treatment device may include an input to
`massage device corresponding to the measured magnitudes
`adjust the reciprocation amplitude from one quarter of an
`60 inch through a range of up to one inch . In a preferred
`of force .
`In an embodiment , a non - transitory computer - readable
`embodiment , the actuated output moves through an ampli
`tude of between about 0.15 inches and about 1.0 inches . In
`medium has stored thereon software instructions that , when
`executed by a processor , cause the processor to obtain a
`a more preferred embodiment , the actuated output articu
`current magnitude of a battery pack of the percussive
`lates or reciprocates at a frequency of between about 0.23
`massage device , obtain a voltage magnitude of the battery 65 inches and about 0.70 inches . In the most preferred embodi
`pack , determine a power magnitude using the current mag-
`ment , the actuated output articulates or reciprocates at a
`nitude and voltage magnitude of the battery pack , generate
`frequency of between about 0.35 inches and about 0.65
`
`Petitioner Therabody Ex-1024, 0020
`
`

`

`US 10,940,081 B2
`
`5
`6
`on the device . The app can control the variable speeds ( e.g. ,
`inches . Any chosen range within the specified ranges is
`anywhere between 1750-3000 RPM ) . A timer so the device
`within the scope of the present invention .
`stops after a predetermined period of time . The app can also
`It will be appreciated that the device operates most
`include different treatment protocols associated therewith .
`effectively within the combined frequency and amplitude
`ranges . When developing the invention , the inventor deter- 5 This will allow the user to choose a protocol or area of the
`mined that if the frequency and amplitude are above the
`body they want to work on . When the start of the protocol
`ranges set forth above the device can cause pain and below
`is selected , the device will run through a routine . For
`the ranges the device is ineffective and does not provide
`example , the device may run at a first RPM for a first period
`effective therapeutic relief or massage . Only when the
`of time and then run at a second RPM for a second period
`device operates within the disclosed combination of fre- 10 of time and / or at a first amplitude for a first period of time
`quency and amplitude ranges does it provide efficient and
`and then run at a second amplitude for a second period of
`therapeutically beneficial treatment to the muscles targeted
`time . The routines can also include prompts ( e.g. , haptic
`by the device .
`feedback ) for letting the user to know to move to a new body
`In certain embodiments , the reciprocating treatment
`part . These routines or treatments can be related to recovery ,
`device includes one or more components to regulate the 15 blood flow increase , performance , etc. and can each include
`articulation rate of the actuated output in response to varying
`a preprogrammed routine . The routines can also prompt or
`levels of power provided at the power input . For example ,
`instruct the user to switch treatment structures ( AmpBITS )
`the reciprocating treatment device may include a voltage
`or positions of the arm or rotation head . The prompts can
`regulator ( not shown ) to provide a substantially constant
`include sounds , haptic feedback ( e.g. , vibration of the device
`voltage to the motor over a range of input voltages . In 20 or mobile device ) , textual instructions on the app or touch
`another embodiment , the current provided to the motor may
`screen , etc. For example , the app