Research on digital modeling and dynamics of human-computer interaction interface for massage rehabilitation robots
Objective To collect and analyze the kinematic and dynamic characteristics of professional physician's massage technique,to develop a force compliance control algorithm suitable for a variety of massage technique and learning the strength curve based on the massage hand,and to provide a method to realize the kinematics and dynamic reproduction of massage robot.Methods Firstly,the kinematics and dynamics of the rolling method,kneading method and vibration method were analyzed,and the characteristics were extracted and decoupled to form a kinematic and dynamic pattern expression.Secondly,through the massage manipulator and motion capture system,kinematic and dynamic data collection were collected from the movements of expert's massage manipulation.Finally,based on a multi-functional massage hand,the spatial trajectory and strength curve of massage manipulation techniques were learned and a force compliance control algorithm was developed based on the information of expert's massage techniques.Results The rolling force of the massage head and the professional physician were 52.18 N and 55.10 N,respectively,with the minimum values of 29.71 N and 6.23 N,respectively.The waveform of the force curve of the massage head during the massage process was relatively close to that of the professional physician.The errors of the average,maximum,and minimum values of the massage force performed by the massage head relative to the professional physician were-0.51%,3.58%,and-3.56%,respectively.The standard deviation,skewness,and kurtosis of the massage force of the massage head were very close to those of professional physicians.The vibration force of the massage head and the professional physician were 21.82 N and 21.54 N,respectively,with frequencies of 3.67 Hz and 14.30 Hz.The relative error of the average force between the above-mentioned movementes of massage head and those of professional physicians was less than 10%,and the dynamic characteristics such as force curve,massage force,and frequency were basically the same.Conclusions A kinematic and dynamic analysis method is proposed,which can effectively reproduce the dynamic characteristics of massage action by teaching the manual data of experts.
万方数据
维普
