Research On Lumbar Physiotherapy Massage Instrument Based On Flexible Drive

With the development and progress of society,the style of people's life and work has changed.More and more people are lack of exercise and begin to sit long for work reasons.And that leads to a sharp increase in the incidence of lumbar diseases.With the number of patients increases,the growth rate of medical resources,especially the number of experienced Chinese massage doctors,is far from reaching the expectation.Therefore,it has led to a serious contradiction between supply and demand of TCM(Traditional Chinese Massage)therapy.In order to solve this contradiction,the rehabilitation robots have been developed.Among them,massage robot based on traditional Chinese medicine theory has become an important research direction of rehabilitation robot because of its excellent effect on lumbar diseases.In recent years,the research on massage robot becomes more and more mature at home and abroad.However,these massage robots also have their limitations,such as large weight,large volume,single massage technique.Moreover,the strength and frequency control of massage devices can't meet the improvement of diseases.The massage devices are rigid connection,which can't meet people's requirements for safety.Therefore,in order to solve the above problems,this paper will design a convenient and lightweight physiotherapy massage instrument,and introduce the flexible drive structure to ensure the safety of human-computer contact while realizing the simulation of Chinese massage doctor's manipulation.The specific research contents of this paper are as follows: firstly,Elaborate the background and significance of this research,and combine with the massage theory of traditional Chinese Medicine,explore the massage techniques of lumbar treatment.At the same time,the status quo of massage robot at home and abroad with the related control law are investigated.Secondly,summarize and refine the massage techniques and their movement characteristics to meet the needs of traditional Chinese medicine lumbar physical therapy massage instrument.Based on this,the structure design of massage device based on flexible drive and support device based on the best curvature of human lumbar spine are proposed.The strength of the key components of massage and support device is checked.Then complete the design of the mechanical structure of the physiotherapy instrument.After that,the dynamic model of the physiotherapy massage instrument is established,and the simulation and analysis of the control method for the mechanical structure of the physiotherapy massage instrument are carried out.Then the control system's hardware and software for the physiotherapy massage instrument are designed.Among them,the hardware design includes the main control module,driver module,sensor module and other modules;the software design includes driver design,data acquisition program design,massage manipulation program design,etc.,and the patient information client is designed based on SSM framework to save patient information data.Finally,the platform of traditional Chinese medicine lumbar physiotherapy massage instrument is built,and the experimental research is carried out on this platform.The research contents include the scientific extraction of mechanical parameters of massage manipulation,the massage effect verification of traditional Chinese medicine physiotherapy massage instrument and the client-side effect verification of patient information.The experimental results show that the massage device can effectively and accurately complete the simulation of traditional Chinese medicine massage manipulation,and the client can effectively complete the transmission of patient information.The flexible traditional Chinese medicine physiotherapy massage instrument designed in this paper can meet the technical requirements of Chinese massage theory.