Simulation massage robot and control method thereof

A control method and robot technology, applied in the field of health care instruments, can solve the problems of inability to achieve self-regulation, inability to meet the individual needs of patients, and manual control.

Inactive Publication Date: 2011-11-23
SHANGHAI QIBAO HIGH SCHOOL
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In response to this situation, related massage equipment has also appeared on the market, which is expensive, cannot be adjusted independently, and requires manual control, so it cannot meet the individual needs of patients, and the curative effect is not ideal.

Method used

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  • Simulation massage robot and control method thereof
  • Simulation massage robot and control method thereof
  • Simulation massage robot and control method thereof

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Embodiment Construction

[0023] The simulation massage robot of the present invention includes a simulation massage hand, a three-dimensional omnidirectional pressure sensor, an LED display, a drive motor and a PLC, please refer to Figure 11- figure 2 As shown, the simulated massage hand includes a simulated palm used for massage, a simulated wrist joint used to realize the three-dimensional motion of the simulated palm, and a mechanical arm used to support the simulated wrist joint. There is a three-dimensional omnidirectional pressure sensor 4, which is composed of three pressure sensors respectively arranged in the directions of X, Y, and Z axes, which can respectively detect the force values ​​in the three directions during massage, so as to facilitate the control and adjustment of the massage force , and the massage surface 5 of acrylic material is provided at the bottom of the housing, and the massage surface 5 is spherical, or a hand model or a finger print, and is used for direct contact with ...

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Abstract

The invention discloses a control method of a simulation massage robot. In the method, a corresponding three-dimensional pressure threshold is set by a programmable logic controller (PLC) and a motor is controlled by the PLC to drive a simulation wrist joint to drive a simulation palm to perform massaging actions by simulating massaging skills, the pressure values in X, Y and Z directions in the massaging process of the simulation palm are detected by a three-dimensional omnidirectional pressure sensor, and the rotation speed of the motor is adjusted in real time by the PLC and pressure threshold analysis and comparison, and thus, the massing actions can be regulated. The invention also discloses a simulation massage robot. When the simulation massage robot is used, various massaging skills can be simulated more in real time, and the overall requirements of traditional Chinese massaging on 'duration, effectiveness, uniformity and softness' are met.

Description

technical field [0001] The invention belongs to a health care instrument, and in particular relates to a simulation massage robot and a control method thereof. Background technique [0002] Traditional Chinese massage is a physical therapy method in my country. It has a long history and is extensive and profound. It can play a very good role in the prevention and treatment of diseases. It acts on acupuncture points and specific parts on the human body surface by force, thereby effectively regulating the patient's condition. The general requirements of TCM massage are "long-lasting, effective, even and soft". Tuina therapy has high requirements for tuina therapists, and their level of experience is closely related to patients' feelings and curative effects. At the same time, the workload of massage therapy is relatively large, which requires a lot of physical strength of the massage therapist. With the increasing pressure of life, the demand for massage therapy is also inc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H7/00
Inventor 裴明
Owner SHANGHAI QIBAO HIGH SCHOOL
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