Design and path planning of Massagebot: One massaging robot climbing along the acupuncture points

Chen, Hongli; Wang, Xinyu; Feng, Wei; Xu, Tiantian; He, Yong

doi:10.1109/icinfa.2016.7831959

Cited by 6 publications

(4 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The eigenvalues λ 1 i , λ 2 i and λ 3 i of the covariance matrix are obtained by calculating Equation (5), and the set of points that meets the condition is selected as the key point of the back region:…”

Section: Coarse-to-fine Alignment and Tracking Algorithmmentioning

confidence: 99%

“…The majority of available studies on back recognition are static. Chen H et al [5] recognized the back by pasting a large number of artificial markers on the body back, which is simple and rapid, but with limited application scenarios. K.C.…”

Section: Introductionmentioning

confidence: 99%

“…The issue of the robot being unable to alter the bathing path in time due to the user's involuntary movement during the bathing process has been resolved. 5.…”

mentioning

confidence: 99%

See 2 more Smart Citations

Dynamic Path Planning Based on 3D Cloud Recognition for an Assistive Bathing Robot

Meng,

Kang,

Liu

et al. 2024

Electronics

View full text Add to dashboard Cite

Assistive bathing robots have become a popular point due to their metrics, such as a humanoid working approach in the solution of elder care. However, the abilities of dynamic recognition and path planning are the key to obtain the advantages. This paper proposes a novel approach to recognize and track the dynamical human back, and path planning on it via a 3D point cloud. Firstly, the human back geometric features are recognized through coarse-to-fine alignment. The Intrinsic Shape Signature (ISS) algorithm combined with the Fast Point Feature Histogram (FPFH) and the Sample Consensus Initial Alignment (SAC-IA) algorithm are adopted to complete the coarse alignment, and the Iterative Closest Point (ICP) algorithm is applied to the fine alignment to improve the accuracy of recognition. Then, the dynamic transformation matrix between the contiguous recognized back is deduced based on spatial motion between two adjacent recognized back point clouds. The path can be planned on the tracked human back. Finally, a set of testing experiments are conducted to verify the proposed algorithm. The results show that the running time is reduced by 66.18% and 96.29% compared with the other two common algorithms, respectively.

show abstract

Section: Coarse-to-fine Alignment and Tracking Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic Path Planning Based on 3D Cloud Recognition for an Assistive Bathing Robot

Meng,

Kang,

Liu

et al. 2024

Electronics

View full text Add to dashboard Cite

show abstract

“…In terms of path planning, a location algorithm is based on simplified acupoints, where the self-organizing feature map neural networks and pattern recognition are combined to simplify the treatment spots to several classes. A series of discontinuous points are chained to a motion path [ 48 ]. However, tasks are complex and unique—each patient is different—and acupuncture treatment takes place in a nonstructured environment.…”

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

View full text Add to dashboard Cite

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.

show abstract

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

Zhai,

Li,

2024

J Bionic Eng

View full text Add to dashboard Cite

Design and path planning of Massagebot: One massaging robot climbing along the acupuncture points

Cited by 6 publications

References 9 publications

Dynamic Path Planning Based on 3D Cloud Recognition for an Assistive Bathing Robot

Dynamic Path Planning Based on 3D Cloud Recognition for an Assistive Bathing Robot

Guidance for Acupuncture Robot with Potentially Utilizing Medical Robotic Technologies

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

Contact Info

Product

Resources

About