Flexible physiotherapy massage robot

Xing, Kefan; Chen, Diansheng; Xue, Ruilong; Wang, Diwen

doi:10.1109/robio54168.2021.9739603

Cited by 3 publications

(2 citation statements)

References 4 publications

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“…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. The safety of their system was ensured through passive compliance control.…”

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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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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“…Massage technology is more mature, and massage robots have also been designed and developed [15], [16] for applications in stroke rehabilitation [17], lower limb rehabilitation [18], facial disease rehabilitation [19], back massage [20], and other areas. To solve the problems of fatigue and reduced therapeutic effect caused by Tuina massage by long-time physicians, researchers have designed and researched massage robotic systems [21], [22], end effectors [23], [24], and control systems [25].…”

Section: Introductionmentioning

confidence: 99%

Performance Evaluation of a Traditional Chinese Medicine Massage Robot Based on Multi-Information Fusion

Wu,

Gong,

Yang

et al. 2024

IEEE Access

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To modernize traditional Chinese medicine (TCM) and improve the efficiency of Tuina therapy in the rehabilitation of cervical spondylosis. This study aimed to solve the problem of the efficacy of cervical spine Tuina therapy, which lacks objective evaluation standards because it is difficult to provide effective feedback for massage robots. A cervical spine Tuina efficacy assessment model built with functional nearinfrared spectroscopy (fNIRS) data was proposed to evaluate the performance of a multi-information fusion TCM massage robot. The robot combined visual guidance technology, a multi-degree-of-freedom robotic arm, fNIRS, and TCM Tuina techniques to provide a scientific auxiliary diagnostic and therapeutic method for TCM Tuina therapy. The feasibility and effectiveness of the robot were verified through two tests: comparing the subjective scale with the objective fNIRS data and comparing the feelings of the physician's massage with the robot's massage. The accuracy of the efficacy assessment model was greater than 95%.

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Distributed Pneumatic Physiotherapy Robot for Human Acupoints

Xiao

Huang

et al. 2023

2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS)

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Flexible physiotherapy massage robot

Cited by 3 publications

References 4 publications

Toward automatic robotic massage based on interactive trajectory planning and control

Toward automatic robotic massage based on interactive trajectory planning and control

Performance Evaluation of a Traditional Chinese Medicine Massage Robot Based on Multi-Information Fusion

Distributed Pneumatic Physiotherapy Robot for Human Acupoints

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