Design of Chinese medical massage robot system

A Chinese medical massage robot is developed for the clinical requirement of degenerative disease and chronic disease of middle-aged and old people. The mechanical architecture, control system, and other modules are introduced, and the experimental data is given. A massage adjustable platform, two 5-DOF manipulators are manufactured. A massage device that can accomplish various massage manipulations is developed. The master control system is based on embedded module, and the manipulators are controlled by a TRIO multi-axes motion controller. Physiological signal and massage pressure is detecting in real time in massage process to ensure a scientific and safe therapy. Vision System sends the recognized acupoint position to the master system to track the patient's body, and the acupoint being massaged is displayed in real time by the 3D virtual model. The Chinese medical massage robot can execute ten massage manipulations, the effectiveness of which is demonstrated by laboratory examination and clinical trial.