基于视觉引导的推拿机器人设计与实现
Design and implementation of massage robot based on visual guidance
武欣 1巩斌 1杨皓 1方宇1
作者信息
- 1. 上海工程技术大学 机械与汽车工程学院, 上海 201620
- 折叠
摘要
基于视觉引导设计中医(traditional chinese medicine,TCM)推拿机器人.通过搭建视觉引导平台,以Franka多自由度机械臂为基础建立推拿机器人平台,并构建两个平台间的数据映射模型,通过机器人操作系统(robot operating system,ROS)将机械臂与计算机(PC)端连接实现实时控制;将光学运动捕捉技术与多自由度机械臂融合,实现对中医推拿过程的学习与复现.
Abstract
A traditional Chinese medicine(TCM)massage robot based on visual guidance was designed.By building a visual guidance platform,the massage robot platform was established based on the Franka multi-degree of freedom robotic arm,and the data mapping model between the two platforms was constructed.The robot arm was connected to the PC through the robot operating system(ROS)system to achieve real-time control.By integrating the optical motion capture technology with the multi-degree of freedom robotic arm,the learning and reproduction of TCM massage techniques were realized.
关键词
中医推拿/机械臂/运动捕捉技术/机器人操作系统Key words
traditional Chinese medicine(TCM)massage/robot arm/motion capture technology/robot operating system(ROS)引用本文复制引用
出版年
2024
NETL
NSTL
维普
万方数据