Disclosed is a massage manipulator comprising a rotary mechanical arm, an oil spreading device and a roller device. The oil spreading device and the roller device are disposed under the rotary mechanical arm, and the installation direction of the oil spreading device and the installation direction of the roller device are perpendicular to each other. When the rotary mechanical arm is working, a servo motor drives a connecting rod to rotate an angle around a rotating shaft through a synchronous belt assembly, and the rotated angle is matched to the chest thickness of a customer to be massaged.The servo motor adopts a torque control mode to adjust the massage intensity according to the magnitude of the reaction force. A torque limiter mounted coaxially with the rotating shaft is mounted onsynchronous pulleys and is fixedly connected thereto. If the force transmitted by the servo motor or the reaction force of the human body acting on the connecting rod exceeds a threshold value set bythe torque limiter, the torque limiter will be disengaged to cut off the power transmission and protect the back of the human body from injury. Meanwhile, the manual application of a massage liquid isavoided and the work efficiency is improved.