Design and Experimental Study of a New Flexible Driven Parallel Soft Massage Robot

Zhao, Yanzhi; Wei, Hang; Li, Pengbo; Li, Guoqing; Qi, Lizhe; Yu, Hongnian

doi:10.1007/978-3-030-27532-7_46

Cited by 3 publications

(2 citation statements)

References 7 publications

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“…Finite-element simulation analysis can verify the rationality of the deformation of the flexible driving unit [ 82 ]. A tactile sensing instrument, which uses a commercially available sensor to measure distributed pressure profiles along the contacting surface, has realized a 55% decrease in the maximum forces applied on tissue, a 50% decrease in task completion time, and a 40% increase in acupoint detection accuracy [ 83 ].…”

Section: Potentially Utilizing Medical Robotic Technologies Of Acumentioning

confidence: 99%

Guidance for Acupuncture Robot with Potentially Utilizing Medical Robotic Technologies

Xia

2021

Evidence-Based Complementary and Alternative Medicine

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Acupuncture is gaining increasing attention and recognition all over the world. However, a lot of physical labor is paid by acupuncturists. It is natural to resort to a robot which can improve the accuracy as well as the efficacy of therapy. Several teams have separately developed real acupuncture robots or related technologies and even went to the stage of clinical trial and then achieved success commercially. A completed clinical practical acupuncture robot is not far from reach with the combination of existing mature medical robotic technologies. A hand-eye-brain coordination framework is proposed in this review to integrate the potential utilizing technologies including force feedback, binocular vision, and automatic prescription. We should take acupuncture prescription with artificial intelligence and future development trends into account and make a feasible choice in development of modern acupuncture.

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Section: Potentially Utilizing Medical Robotic Technologies Of Acumentioning

confidence: 99%

Guidance for Acupuncture Robot with Potentially Utilizing Medical Robotic Technologies

Xia

2021

Evidence-Based Complementary and Alternative Medicine

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“…Nonetheless, their work does not consider the dynamics of the environment. To address this, Hu et al [9] applied a multi-finger gripper to execute massage tasks, considering the kinematics and force characteristics of various massage movements such as rolling, kneading, and pressing [31]. Another study conducted by Xing et al [29] developed a flexible back massage robot composed of a flexible silicone material integrated with a corrugated airbag.…”

Section: Introductionmentioning

confidence: 99%

Toward automatic robotic massage based on interactive trajectory planning and control

Xu,

Deng,

Zeng

et al. 2024

Complex Intell. Syst.

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Autonomous robotic massage holds the potential to alleviate the workload of nurses and improve the quality of healthcare. However, the complexity of the task and the dynamic of the environment present significant challenges for robotic massage. This paper presents a vision-based robotic massage (VBRM) framework that facilitates autonomous robot massaging of the human body while ensuring safe operation in a dynamic environment. The VBRM framework allows the operator to define the massage trajectory by drawing a 2D curve on an RGB image. An interactive trajectory planning method is developed to calculate a 3D massage trajectory from the 2D trajectory. This method accounts for potential movements of the human body and updates the planned trajectory using rigid point cloud registration. Additionally, a hybrid motion/force controller is employed to regulate the motion of the robot’s end-effector, considering the possibility of excessive contact force. The proposed framework enables the operator to adjust the massage trajectory and speed according to their requirements. Real-world experiments are conducted to evaluate the efficacy of the proposed approach. The results demonstrate that the framework enables successful planning and execution of the massage task in a dynamic environment. Furthermore, the operator has the flexibility to set the massage trajectory, speed, and contact force arbitrarily, thereby enhancing human–machine interaction.

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Friction and Deformation Behavior of Human Skin During Robotic Sliding Massage Operation

Zhai,

Li,

2024

J Bionic Eng

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Design and Experimental Study of a New Flexible Driven Parallel Soft Massage Robot

Cited by 3 publications

References 7 publications

Guidance for Acupuncture Robot with Potentially Utilizing Medical Robotic Technologies

Guidance for Acupuncture Robot with Potentially Utilizing Medical Robotic Technologies

Toward automatic robotic massage based on interactive trajectory planning and control

Friction and Deformation Behavior of Human Skin During Robotic Sliding Massage Operation

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