Abstract: Systems, devices, and methods are described herein that relate to massage devices with force control and feedback for providing pain relief and improved muscle recover to users. The massage devices can output mechanisms for applying a mechanical output to a muscle area of a user to treat a muscle condition, driving mechanisms for driving the movement of the output mechanisms, and sensors for measuring force and other properties associated with application of the mechanical output. The massage devices can be configured to adapt therapy being applied to a muscle area or provide users with feedback based on sensor measurements.