The invention discloses a Chinese
massage robot, relating to the field of Chinese
massage mechanical and automatic devices. The Chinese
massage robot is characterized by comprising a
bed body (16), a spatial
six degrees of freedom main body mechanism and a massage hand (15) and can realize a palm-
rubbing technique, a scrubbing method, a pushing manipulation, a wiping manipulation, a pressing manipulation, a pointing method, a finger-nail pressing method, a clapping method, a striking method, a rebounding method, a rolling method, a palm-kneading method, a finger-kneading method, a tremble manipulation, a shaking manipulation, a holding method, a kneading method, a plucking method, a pushing method, a twisting method, a pulling and turning method, a stretching method and other general single-hand and dual-hand massage methods. The invention has the advantages of simple structure, high rigidity, small size, light weight, low cost, large
motion space, sensitive and quick action, favorable decoupling, real-time and dynamic
response characteristics of
system control, and the like.