In a mattress massage system (100), at least one massage actuator (30) is provided for the generation of a massaging force that acts on a mattress in a direction perpendicular to the reclining area of the mattress. The system is configured to generate the massaging force with a time-variant intensity, which comprises a fundamental frequency (f1) and at least one superposition frequency (f2), which is higher than the fundamental frequency (f1).
