Type Synthesis and Workspace Analysis of a Novel Series Chinese Medical Massage Arm

Xie, Jun; Kuang, Li Hui

doi:10.4028/www.scientific.net/amm.43.78

Cited by 2 publications

(2 citation statements)

References 3 publications

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“…Around the theme of rehabilitation massage, many researchers in China, America, Japan and further afield have carried out many research programmes and several massage robots have been reported (Yin and Xu, 2010;Xie and Kuang, 2010;Alavandar et al, 2007). The PUMA robot was used in the application of robotics in massage therapy.…”

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 is one of the main ways in the design and optimization processes of robots [2]. Based on graphical approach, Xie Jun et al [3] analyzed the workspace of a novel series Chinese medical massage arm, and learned that the upper arm and the forearm of this kind of Chinese medical massage arm must be equal. Chen Zaili [4] presented a genetic algorithm approach for the synthesis of spatial 6-DOF parallel manipulators whose workspace must include a desired workspace with orienting capabilities on a given 3D region.…”

Section: Introductionmentioning

confidence: 99%

The Research about Prescribed Workspace for Optimal Design of 6R Robot

Gan¹,

Yu²,

He³

et al. 2014

MME

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Based on the D-H notation, kinematics model and inverse kinematics model of 6R industrial robots are established. Using graphical method, the boundary curve equations of the 6R industrial robot workspace are obtained. Based on the prescribed workspace, the D-H parameter optimization method of 6R industrial robots is proposed. Using the genetic algorithm to determine the structural dimensions of a 6R robot, we make sure that its workspace can exactly contain the prescribed workspace. This method can be used to reduce the overall size of the robot, save materials and reduce the power consumption of the robot during its work time.

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Type Synthesis and Workspace Analysis of a Novel Series Chinese Medical Massage Arm

Cited by 2 publications

References 3 publications

A massage robot based on Chinese massage therapy

A massage robot based on Chinese massage therapy

The Research about Prescribed Workspace for Optimal Design of 6R Robot

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