Research On Trajectory Planning And Operation Optimization Methods Of Facial Massage Robot

Due to the large demand,high skills requirements,long training periods,and high labor costs of employees in the fields of medical rehabilitation,massage health care,and beauty care,the demand for robots that directly contact the human skin is increasing.Such robots need to operate on the surface of human skin,move according to a specific trajectory and speed,and apply a proper force on a specific position on the skin in a certain posture.This project aims at the characteristics of facial skin.Using facial massage robot as a research object,this paper studies the acquisition of facial skin contour information without specific corners,facial massage trajectory planning and operation optimization.The main contents are as follows:In this paper,a facial skin working robot system is introduced,including a vision system,a robot body,a controller,and a server.The vision system based on the Kinect 2 depth camera can quickly acquire 3D information of the facial contour.The hand-eye calibration of the robot can obtain the pose transformation matrix between the robot and the Kinect 2 camera,and convert the 3D face information into the robot base coordinate system.The 3D face point cloud model obtained by the Kinect 2 camera has the problems of fewer feature points and lower accuracy.After the deformation based on Dlib facial feature points,refination and optimization based on the anisotropic thinning algorithm,the reconstruction accuracy of Kinect 2 facial surface is effectively improved.In order to analyze the key problem of robot facial massage,the skin structure and mechanical properties are studied.The division of the facial working area is achieved based on the standard size of the adult jaw and facial area.Considered the skin anisotropy and the skin tension line,the robot massage trajectory is designed.The massage curve trajectory is obtained by the equal plane and the dichotomy method,optimized by the facial curvature.The changes of contact stress and energy transformation between the robot end and skin are studied.Based on the energy function ane the Weber-Fechner Law,a relationship between the physical stimulus and the psychological perception brought by the robot operation is established.And the measurement of comfort perception is realized.The comfort perception experiments of different facial working area are designed,and the comfort perception optimization model is determined.The facial massage robot operation is optimized based on the mathematical model of robot operation parameter optimization for different tasks.A robot facial massage experiment is carried out to verify the feasibility and effectiveness of the facial skin massage robot and various methods proposed in this paper.