This new invention is a frame and servo assembly for attaching to massage chair seats manufactured without an existing servo assembly. It includes a frame body, on which there is sliding rack, a screw drive, a positioning stabilizer bar, and a connecting plate. The sliding rack is coupled to various motor brackets, the screw drive, a driving block, a screw drive stop block, and a plurality of wave shaped massaging wheels. The various motor brackets are coupled to two motors. One of the motors utilizes an axle with an off-center axis on both ends. There are multiple connecting brackets installed on the off-center axle, with wheel brackets installed at the end of the connecting brackets. Various “wave” shaped wheels at the end of the wheel brackets aid to simulate the natural feel of human hand joint movements to a user. At the two ends of the additional motor assemblies are bases for joint assemblies. These joint bases are connected to the connecting brackets via connecting joints. The wheels are located on the two ends of the sliding rack. The positioning stabilizer bar is affixed inside the frame body for stability.