Traditional Chinese medicine massage requires manual labor,which not only consumes a huge amount of physical energy,but also varies in massage techniques from person to person,resulting in significant differences in massage efficacy.Based on this,an intelligent massage robot was designed,which uses the traction and teaching function of the cooperative robot to calibrate the massage area needed by the robot,and automatically generates the massage track according to the target point to realize regional massage.Or self-identification of acupoints through visual positioning system to achieve precise acupoint massage.With the help of six-dimensional force sensors,massage force can be monitored and constant force massage can be achieved by adjusting the posture of the cooperative robot arm.The designed massage robot has simple operation,high safety,and broad application prospects.
massage robotcooperative robottraction and teachingvisual localization
NETL
NSTL
万方数据
