Apparatus and method for applying a friction massage stroke

A massage device for manipulating a user includes a support member and a manipulator carried by the support member. The manipulator is adapted to engage and apply a shear force to the user. The manipulator is rotatable about at least one axis relative to the support member and a brake operably connected to the manipulator selectively adjusts rotation of the manipulator about the at least one axis so that the shear force applied to the user by the manipulator is adjusted. In automatically controlled embodiments, a controller adjusts the braking force according to signals received from a detector to prevent or reduce slippage of the roller and to dynamically control the magnitude of the shear force applied to the user. In manually embodiments, an operator adjusts the braking force to a fixed magnitude or dynamically adjusts the braking force to control the shear force applied to the user.