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。
Design and implementation of massage robot based on visual guidance
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.
traditional Chinese medicine(TCM)massagerobot armmotion capture technologyrobot operating system(ROS)
NETL
NSTL
万方数据
维普
