Flexible drive bionic massage manipulator based on pneumatic artificial muscles
A technology of pneumatic artificial muscles and manipulators, applied in manipulators, program-controlled manipulators, kneading and massage appliances, etc., can solve problems such as single massage function, difficult massage force control, and insufficient flexibility, so as to relieve working pressure, good detection, and structure compact effect
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[0044] refer to Figure 1 to Figure 12 , the flexible drive bionic massage manipulator based on pneumatic artificial muscles of the present invention, the overall size of the manipulator is slightly larger than the actual size of the human hand, and is suitable for massaging various tissue parts of the human body, especially for back and neck massage. The direct function of the present invention is to provide an intelligent auxiliary massage device for manual massage, which can alleviate the work pressure of masseurs and improve massage efficiency. The manipulator is composed of a parallel flexible drive unit, a tactile sensing unit, an ultrasonic drive unit, a piezoelectric vibrator unit, a flexible artificial skin and a bionic palm. The parallel flexible drive unit composed of pneumatic artificial muscles can realize the multi-degree-of-freedom movement of each finger. The manipulator provided by the present invention has 16 degrees of freedom of movement, has high function...
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