Massage robots, as innovative therapeutic devices, have garnered significant attention and application due to technological advancements and society's increasing focus on wellness. However, amidst this progress, gaps persist in fully understanding their capabilities and optimizing their functionalities, highlighting the need for further research in this domain. This paper focuses on exploring the intricate technical principles, mechanical structure, sensing technology, and intelligent control systems of massage robots, with the aim of providing both theoretical foundations and practical insights for researchers and practitioners in this field. Specific inquiries encompass the elucidation of working principles, emulation of human massage techniques, mechanical design considerations, applications of sensor technology, and implementations of intelligent control systems within massage robots. Employing a blend of literature review, comparative analysis, and experimental validation, this paper aims to not only deepen the understanding of massage robot functionality but also contribute to the advancement and refinement of this technology, fostering innovation and growth within the industry.