Volume 33 Issue 5
Sep.  2011
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GAO Huanbing, LU Shouyin, WANG Tao, LIU Cungen, KANG Bingyuan JI Yuan, BI Hongyan, . Research and Development of Chinese Medical Massage Robot[J]. ROBOT, 2011, 33(5): 553-562.
Citation: GAO Huanbing, LU Shouyin, WANG Tao, LIU Cungen, KANG Bingyuan JI Yuan, BI Hongyan, . Research and Development of Chinese Medical Massage Robot[J]. ROBOT, 2011, 33(5): 553-562.
shu

Research and Development of Chinese Medical Massage Robot

  • 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

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  • Received Date: December 15, 2010
  • Revised Date: July 13, 2011
  • Published Date: September 14, 2011
    Graphical Abstract
    • 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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    • References (13)
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