As an idea of healing or fatigue recovery, a desire for massage therapy has increased for modern people who complain of pain such as knotted muscles or shoulder discomfort due to fatigue accumulation and stress. To resolve this, although a massage chair has been developed, it does not provide the most efficient massage as it is not suitable for Korean body types. In this paper, this research analyzed massage, assembly, massage intensity, Korean body types and functions of the massage for maximized efficiency to design critical functions. Also, we implemented the action control and algorithm of the massage chair for localization.