Design And Experimental Research On Bionic Flexible Massage Robot

At present,the world is at a stage of rapid population ageing.The rate of aging in China is faster than the world average,the degree of aging in our country will continue to increase,and the huge old-age pressure caused by it has become an issue of increasing concern to the country.At the same time,it also brings new opportunities to China's rehabilitation medicine.Clinical data show that massage is the best treatment for chronic diseases such as waist and leg pain in middle-aged and elderly people.However,due to the high requirements for the physical strength and experience of masseurs,which has caused the growing contradiction between the increasing demand for masseurs and the serious shortage of masseurs.With the rapid development of technology,people have tried to use intelligent massage robots instead of masseurs to solve problems.Therefore,it's necessary to study a massage robot that can better reproduce the masseur's massage technique and has considerable curative effect.However,the existing massage robots mainly have the following problems: First of all,the robot simulates traditional physiotherapy techniques and lacks a physiological material basis.Secondly,it also puts forward higher requirements for dynamic response and stability of transmission and actuator.If a smart human-like massage hand is used,more drives and transmissions need to be added,which will lead to a complex electromechanical system.Thirdly,rigid parts and traditional mechanical transmission are currently used,which is far from the actual massage,and lacks a quantitative feedback mechanism for the effect of massage.This article aims to carry out research on a new type of bionic flexible massage robot aiming at the above problems.Firstly,in order to make the robot closer to artificial massage during massage processes,it is necessary to conduct in-depth research on the mechanism of the massage technique.From the perspective of the force and deformation of the massage area,a multi-channel film pressure test system was built to measure the pressure values of multiple points in the massage area.At the same time,the key postures in the massage cycle are selected,and copper foil stamping molds are prepared to indirectly characterize the deformation variables of the massage region corresponding to each posture during the massage.A method for calculating the stiffness spectrum is proposed.Secondly,through the investigation of the existing massage therapy of traditional Chinese massage,Professor Yang Huichen's massage method of "Tissue Rehabilitation" is selected as a reference sample.Observing the massaging technique of the masseur,referring to the physiological structure of the human arm,the flexible massage head with multilayer composite structure was designed.At the same time,the selection of the 6-DOF platform and the construction of the prototype electromechanical system were completed.Next,the Vicon motion capture system was used to collect the motion trajectories of the masseurs.The parameters of the trajectories were calculated in Matlab and the prototype was linked and programmed in Visual Studio and PAM to achieve a predetermined trajectory.Next,using the prototype to carry out in-vivo experimental research.In the first part,the operating robot performs 30 cycles of massage on the designated areas of the waist and abdomen,comparing the massage F-t curve collected during the experiment with the previous artificial massage F-t curve,observing the differences between the two,and further investigating the robot's ability to reproduce the massage technique.In the second part,the integrated temperature detection module on the prototype are used to detect the changes of the soft tissue temperature during a course of treatment under the conditions of artificial massage and prototype massage,drawing the curve of temperature over time to quantitatively evaluate the efficacy of artificial massage and prototype massage.Based on this,this article also tries to integrate the ultrasonic transducer on the massage head and apply a sine wave voltage excitation that is consistent with the piezoelectric ceramic resonance frequency to make piezoelectric ceramics produce high-frequency micro-vibration,and further explore the effect of ultrasonic heating on the therapeutic effect.