中医按摩机器人研制与开发

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高焕兵, 鲁守银, 王涛, 刘存根, 康炳元, 季远, 毕鸿雁. 中医按摩机器人研制与开发[J]. 机器人, 2011, 33(5): 553-562.. GAO Huanbing, LU Shouyin, WANG Tao, LIU Cungen, KANG Bingyuan JI Yuan, BI Hongyan. Research and Development of Chinese Medical Massage Robot. ROBOT, 2011, 33(5): 553-562..

摘要针对中老年人退行性疾病和慢性疾病对中医按摩及保健康复设备的临床需求，提出了一种中医按摩机器人系统，并对按摩机器人的机械结构、控制系统及各功能模块进行了介绍．利用传感器信息融合技术、人机交互技术、三维仿真技术等，实现了典型中医按摩手法的建模，提出了串并联结构融合的机器人构型，研制了集多种按摩手法于一体的多功能按摩机械手．该机器人系统采用视觉系统判定穴位位置，实现对患者身体的跟踪，能完成腰椎部位的指/掌揉、指/掌滚、按、推、叩击和下肢的捏拿、振、拍打共10种手法操作，具得穴位记忆助能，能够根据实时监测的生理信号（心跳、血压等）和按摩力大小，调整按摩频率、幅度、速度，必要时退出按摩探作，保障患者安全．中老年腰椎间盘突出症的临床试验表明了本机器人系统按摩治疗的有效性．

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	高焕兵
	鲁守银
	王涛
	刘存根
	康炳元
	季远
	毕鸿雁

关键词 ：按摩机器人, 穴位定位, 运动控制, 三维虚拟场景

Abstract：A Chinese medical massage robot is developed according to the clinical requirement of Chinese medical massage and health care,especially,for the rehabilitation of degenerative disease and chronic disease of middle-aged and aged people.The robot system's mechanical architecture,control system,and other functional modules are presented.Firstly,the model of typical Chinese medical massage manipulations is built with the technologies of sensor information fusion,human-machine interaction,and 3D simulation.Then,an architecture combining series structure and parallel structure is applied to the robot system,and a massage mechanical hand that can accomplish various massage manipulations is developed.The Chinese medical massage robot adopts a vision system for acupoint positioning to track the patient's body.It can execute ten massage manipulations of finger-/palm-kneading,finger-/palm-rolling,pressing,pushing,tapping on lumbar and pinching, vibrating,patting on lower limb.Apart from acupoint memory,it can ensure the patients' safety by adjusting the massage frequency, amplitude and velocity according to the real-time detected physiological signals(heartbeat,blood pressure,etc.) and the massage pressure,even stopping operation when necessary.The effectiveness of the system is demonstrated by clinical trial of the lumbar disc protrusion therapy of middle-aged and aged people.

Key words： massage robot acupoint location motion control 3D virtual scene

收稿日期: 2010-12-16 录用日期: 2011-07-14

TP24

基金资助:国家863计划资助项目（2008AA040206，2010AA040201）；山东省科技攻关计划资助项目（2009GG10001011）

通讯作者: 高焕兵 E-mail: gaohuanbing@126.com

作者简介: 高焕兵（1979- ），男，博士生，讲师．研究领域：智能机器人系统．
鲁守银（1968- ），男，博士，教授．研究领域：智能机器人系统，信息处理与智能系统．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I5/553

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