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首页> 外文会议>IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems >Trajectory planning for a foot massage robot based on Chinese massage therapy
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Trajectory planning for a foot massage robot based on Chinese massage therapy

机译：基于中国按摩疗法的脚按摩机器人的轨迹规划

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摘要

Appropriate massage on the acupuncture points based on Chinese massage therapy is beneficial to the treatment for hypertension. This paper presents a foot massage robot which reproduces the expert techniques of Chinese massage. The robot is mainly consisted of a parallel positioning mechanism which locates the acupuncture points, and a feed mechanism as the end-effector to apply the massage force to the acupuncture points. The kinematics is analyzed and the transformation matrix is given. The massage process and the desired trajectory are briefly introduced. The trajectory planning algorithm is given after analyzing the point to point trajectory and the multipoint trajectory. Simulation results show the trajectory planning algorithm is effective.
机译：基于中国按摩疗法的针灸点对适当按摩有益于治疗高血压。本文介绍了一台足部按摩机器人，可再现中国按摩的专家技术。机器人主要由一个平行定位机构组成，该机构定位针刺点，以及作为端部执行器的进料机构，以将按摩力施加到针针。分析了运动学，给出了转换矩阵。短暂引入按摩过程和所需的轨迹。在分析点到点轨迹和多点轨迹之后给出了轨迹规划算法。仿真结果显示轨迹规划算法有效。

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