Development of intelligent massage manipulator and reconstruction of massage process path using image processing technique

This paper develops a motor-driven massage artificial electro-mechanical manipulator system with intelligent biomedical sensing-monitoring capabilities and constructs the path of massage process by using CCD image processing technique. In this paper, we integrate a versatile inter-digital electrocardiograph (ECG) into the manipulator system and construct a massage path by using twin CCD image processing technique with inverse engineering method. So, this electro-mechanical manipulator can automatically do the full massage process including pushing, pick-up and kneading actions to get the best therapy effect.