Disclosed is a massage machine which can suppress discomfort of the user when the transition from the movement control to the massage operation control occurs. The massage machine 1 comprises massaging balls 26, a plurality of actuators 22A, 23 A, 24 A for moving the massaging balls, a plurality of displacement detecting parts for detecting the displacement of the massaging balls, a force detecting part for outputting a signal corresponding to the magnitude of force applied to the massaging balls, and a control part for controlling the actuators 22A-24A. The control part executes the movement motion control of enabling the massaging balls to move toward determined operation positions, the massage motion control of massaging a human body by applying force to the massaging balls by the actuators, and the flexibility control of controlling the flexibility of the massaging balls during execution of the massage motion control by implementing at least one of virtual elasticity, virtual inertia and virtual viscosity on the massaging balls. The control part calculates the flexibility target value according to at least one of virtual elasticity, virtual inertia and virtual viscosity, and calculates a difference in flexibility detection value according to signals from the force detecting part to determine the movement motion control.
