The design is pretty straightforward in essence; build a large CNC frame and attach a massage gun to the arm on the Z-axis. The user will lie flat facing down on a massage bed and have manual control over the massage gun in 3 axes.

Each axis is translated by a belt-driven stepper motor system, moving a gantry along an aluminium profile. By utilising the Mach3 software, the motors can be controlled externally using a handheld controller to position the massage gun.

The frame is built to cover the entire body and fit over the massage bed. A webcam will be attached to the frame to provide a top-down view of the user.

Such a design will allow the user to massage any part of their body and maintain full control over the area of massage without the need for assisstance.