A manipulator for a massage device includes a pair of main rods having a first end pivotably coupled to a first elbow assembly and a second end opposite the first end that is pivotably coupled to a second elbow assembly. The pair of main rods is transitionable between a first configuration and a second configuration, wherein, when in the first configuration the pair of main rods define a first length and when in the second configuration the pair of main rods define a second length greater than the first length. The manipulator further includes a first arm rod pivotably coupled to the first elbow assembly, and a second arm rod pivotably coupled to the second elbow assembly.