Research and Development of Chinese Medical Massage Robot
GAO Huanbing1, LU Shouyin1, WANG Tao1, LIU Cungen1, KANG Bingyuan JI Yuan2, BI Hongyan3
1. School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China; 2. Shandong Kangtai Industrial Co.Ltd., Zhaoyuan 265400, China; 3. Affiliated Hospital of Shandong University of Traditional Chinese Medicine, Jinan 250011, China
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..
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.
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