The invention relates to a shoulder-massage manipulator used for an osteopathic massage robot. The shoulder-massage manipulator used for the osteopathic massage robot comprises a massage column, the tail end of which is welded with a U-shaped support. A layer of sponge pad is arranged on the inner wall of the U-shaped support. Two ends of the U-shaped support are symmetrically provided with two massage devices. Each massage device comprises a massage support board welded on the outer wall of the U-shaped support. One end, away from the U-shaped support, of the upper end surface of each massage support board is welded with a baffle board. A movable motor is installed on each baffle board through a motor seat. An output shaft of each movable motor is equipped with a movable lead screw through a coupler. Two ends of each coupler are symmetrically arranged on two fixing lugs through bearings. Lower ends of the two fixing lugs are symmetrically welded to the upper end surface of each massage support board. The middle of each movable lead screw is equipped with a movable sliding block in a threaded manner. Two ends of each movable sliding block are symmetrically welded with two swallow-tail-shaped sliding columns. The shoulder-massage manipulator used for the osteopathic massage robot has the function of uniform ultrasonic massage for stabilize the shoulder. A new way is provided for shoulder massage.