Modeling and massage control of human skin muscle by using multi-fingered robot hand

Terashima, Kazuhiko; Kitagawa, Hideo; Miyoshi, Takanori; Minyong, Panya; Kondo, Toshihiko

doi:10.3233/ica-2006-13304

Cited by 23 publications

(12 citation statements)

References 14 publications

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“…Researchers of the Japanese Toyohashi University of Technology developed a four-finger massage hand with force sensors. The massage hand collects data from the massage experts beforehand, and then performs massage actions by imitating the massage experts' technique (Terashima et al, 2006;Minyong et al, 2003;Mouri et al, 2007). The cited studies have discussed specific aspects of the massage, but nevertheless, the whole massage system, integrating the massage skills together with the therapy process, needs further study.…”

Section: Introductionmentioning

confidence: 99%

A massage robot based on Chinese massage therapy

Wang

Zhang

et al. 2013

Industrial Robot: An International Journal

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If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -As Chinese massage is increasingly popular, many physicians are needed these days. In order to promote the experience and skills of experts and reduce labour intensity during massage, a massage robot, which could reproduce the expert techniques with individualized manipulation parameters and enhanced safety control strategies, is presented in this paper. Design/methodology/approach -The kinematic and force features of key massage techniques, such as Thumb Kneading, Pressing, Rolling, Vibrating and Pinching, are summarized by analyzing the massage processes of expert physicians, and a mathematical model for robotic massage is established. With safety issues taken into account, the overall system structure of the massage robot is proposed. The system generally consists of a positioning platform and a massage end-effector which implements the massage techniques, and the end-effector is further divided into a parallel mechanism and a massage hand to accommodate different techniques. Visual tracking is used for positioning acupuncture points by recognizing markers on a massage vest worn by the patient. A pain threshold value is introduced to individualize therapy schemes and a force-position control method based on the pain threshold is presented. Findings -VAS (Visual Analogue Scale) tests for lumbar muscle strain are carried out using the massage robot, and the treatment effect of the massage robot based on traditional Chinese massage therapy theory is initially validated.Research limitations/implications -The treatment effect of the massage robot needs to be assessed clinically for more occasions and more clinical experiments will be conducted, to optimize the configuration and control strategy to meet the clinical needs in future work. Originality/value -The robotic massage system presented in this paper is acting on acupuncture points based on traditional Chinese massage therapy theory, with human manipulation techniques reproduced and expert experiences incorporated. The massage robot can take the place of a massager to perform Chinese massage. Most of the massage robotic systems published in the world perform only one massage technique and the whole massage process i...

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Section: Introductionmentioning

confidence: 99%

A massage robot based on Chinese massage therapy

Wang

Zhang

et al. 2013

Industrial Robot: An International Journal

View full text Add to dashboard Cite

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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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“…Minyong (Toyohashi University of Technology) et al, presented a four-fingers massage hand with pressure sensors in 2006 [2][3][4][5], which was able to create the movement and force of robot to behave as similar as the human's massage.…”

Section: Introductionmentioning

confidence: 99%