Development of a massage robot for medical therapy

Jones, K.C.; Du, Winncy Y.

doi:10.1109/aim.2003.1225495

Cited by 28 publications

(11 citation statements)

References 2 publications

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“…Body massage is among the most effective and widely accessible means to recover from physical fatigue, and a reliable means of occupational diseases prevention [1]. Therefore, it comes as no surprise that robotic systems have been developed to try to recreate these benefits by mimicking human massage patterns [2]. While there exist several automated massage platforms on the market [3][4][5][6][7][8], they are mainly limited to massaging the back and provide very simple mechanical and repetitive movements.…”

Section: Introductionmentioning

confidence: 99%

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Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage

Khoramshahi

Henriks

Naef

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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Many manipulation tasks require coordinated motions for arm and fingers. Complexity increases when the task requires to control for the force at contact against a non-flat surface; This becomes even more challenging when this contact is done on a human. All these challenges are regrouped when one, for instance, massages a human limb. When massaging, the robotic arm is required to continuously adapt its orientation and distance to the limb while the robot fingers exert desired patterns of forces and motion on the skin surface. To address these challenges, we adopt a Dynamical System (DS) approach that offers a unified motion-force control approach and enables to easily coordinate multiple degrees of freedom. As each human limb may slightly differ, we learn a model of the surface using support vector regression (SVR) which enable us to obtain a distance-to-surface mapping. The gradient of this mapping, along with the DS, generates the desired motions for the interaction with the surface. A DS-based impedance control for the robotic fingers allows to control separately for force along the normal direction of the surface while moving in the tangential plane. We validate our approach using the KUKA IIWA robotic arm and Allegro robotic hand for massaging a mannequin arm covered with a skin-like material. We show that our approach allows for 1) reactive motion planning to reach for an unknown surface, 2) following desired motion patterns on the surface, and 3) exerting desired interaction forces profiles. Our results show the effectiveness of our approach; especially the robustness toward uncertainties for shape and the given location of the surface.

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Section: Introductionmentioning

confidence: 99%

“…The whole must be adaptive to be applied to the variety of human limb surfaces. Therefore, in order to realize effective and comfortable massage actions amenable to a 1 Learning Algorithm and Systems Laboratory, EPFL, Switzerland 2 Samsung Research, South Korea Fig. 1: Robotic arm-hand setup for a massaging application.…”

Section: Introductionmentioning

confidence: 99%

Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage

Khoramshahi

Henriks

Naef

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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“…Chinese traditional massage mainly emphasizes the stimulation of manipulation and changing power on a series of meridians which improves the ability of the immune system and achieves the purpose of disease prevention and treatment. There are several works which have extensively studied the finger and joints of the human hand for use in a multi-finger massage robot [6][7][8]. Existing massage devices and robots are generally designed for only certain massage techniques and can only realize one or two different massage patterns for patients.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Chinese Medicine Based Humanoid Robotic Arm Massage System

Pang

Zhang

et al. 2019

Applied Sciences

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This paper presents a humanoid robotic arm massage system with an aim toward satisfying the clinical requirements of pain relief on the waist and legs of older patients during Chinese medicinal massage. On the basis of an in-depth analysis regarding the characteristics of arm joints of the human body and Chinese medicinal massage theory, a humanoid robotic arm massage system was designed by adapting a bottom to top modular method. The combined finite element and kinematic analysis led to an improved performance according to repeated positioning accuracy, massage strength accuracy, and massage effect. The developed humanoid robotic arm was characterized by a compact structure, high precision, light quality, and good stiffness, achieving a good bearing capacity. Due to the PID controller, the numerical simulations and experimental results provided valuable insight into the development of Chinese medicinal massage robots and massage treatments for patients who suffer from lumbar muscle strain.

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“…It has been validated that many health benefits can be achieved through massage, such as improved blood circulation, lowered blood pressure, reduced heart rate, relief from fatigue, relaxed muscle tone, etc. Some research efforts on the massage issue are presented in literature [9][10][11][12][13]. In the development of a massage robot system, the robot is expected to provide a safe as well as comfortable massage therapy.…”

Section: Introductionmentioning

confidence: 99%

Electromyographic signal integrated robot hand control for massage therapy applications

Luo

Chang

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents an electromyographic (EMG) signal integrated multi-finger robot hand control for massage applications. This research explores the feasible application of multi-finger robot hands except for the use as prostheses and grasping applications. The forearm EMG of a person who is massaged by the human hands is recorded and analyzed statistically. First, the root mean square (RMS) of the raw data is computed as the discrimination between normal and contracted states of the muscle. Then the EMG signal at contracted state is further divided into painful and comfortable groups based on the impulse factor which is defined to estimate the sharpness of waveform variations. As a consequence, two discriminative values of the EMG signal are generated to distinguish painful and comfortable feelings. Based on the relationship between the human feeling and the massage force, we get an appropriate range of input commands of the robot hand for massage applications. A grasp-kneading massage is performed on the human shoulder to verify the proposed process. As a result, an effective and comfortable massage using the multi-finger robot hand is realized.

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Development of a massage robot for medical therapy

Cited by 28 publications

References 2 publications

Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage

Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage

Design and Analysis of a Chinese Medicine Based Humanoid Robotic Arm Massage System

Electromyographic signal integrated robot hand control for massage therapy applications

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