Grasping the state of the part where it becomes the object of massage accurately, it contributes to doing the massage which is close to the massage which the healing person does automatically. The massage robot which relates to the execution form of this invention (10), while the user (H) the contact which contacts the face (F) (17) with, the contact (17) keeping on advanced side, the arm which makes inside the specified space move (19) with, the contact (17) the measurable sensor (21), the arm (19) the control control equipment which controls operation (15) with it has the reaction force for pushing pressure to the face (F). The control control equipment (15), the sensor (21) on the basis of measurable quantity the form detection function to which the face (F) calculates form (23) with, this form detection function (23) with the aforementioned contact (17) using the face (F) the massage object region inside the region specific function which specifies (24) with, this region specific function (24) with vis-a-vis the massage object region which specifies facial form and the sensor which were required (21) on the basis of measurable quantity, the massage operational control operation which can point to specified massage operation (25) with it has.マッサージの対象となる部分の状態を正確に把握して、施術者が行うマッサージに近いマッサージを自動的に行うことに寄与する。本発明の実施形態に係るマッサージロボット(10)は、使用者(H)の顔面(F)に接触する接触子(17)と、接触子(17)を先端側で保持しながら所定空間内を移動させるアーム(19)と、接触子(17)の顔面(F)への押圧に対する反力を測定可能なセンサ(21)、アーム(19)の動作を制御する制御装置(15)とを備えている。制御装置(15)は、センサ(21)の測定値に基づいて顔面(F)の形状を求める形状検出機能(23)と、この形状検出機能(23)で求められた顔面形状及びセンサ(21)の測定値に基づいて顔面(F)内のマッサージ対象部位を特定する部位特定機能(24)と、この部位特定機能(24)で特定されたマッサージ対象部位に対し、前記接触子(17)を使って所定のマッサージ動作をさせるマッサージ動作制御機能(25)とを備えている。
