Traditional Chinese medical massage robot for treating middle and old aged retrograde lumbocrural pain

Abstract

The invention relates to a traditional Chinese medical massage robot, in particular to a traditional Chinese medical massage robot for treating middle and old aged retrograde lumbocrural pain, which comprises a massage regulating platform, mechanism arms, massage hands, a bed body, moving caster wheels and a robot control system. The robot is characterized in that: the mechanical arms comprise waist parts, shoulder parts, upper arms, fore arms and wrist parts; the massage hands comprise palms, thumbs and row fingers; the wrist parts of the mechanical arms are connected with massage hands; the two mechanical arms and the massage hands can work synchronously and cooperatively; with the cooperation with related motors of the mechanical arms and the massage hands, the skill actions such as 'finger kneading', 'finger pressing', 'patting', 'rolling', 'palm kneading', 'palm pressing', 'palm rubbing', 'pinching' and 'tapping' can be realized; and thus, the robot instead of a doctor can massage people with middle and old aged retrograde lumbocrural pain according to the treatment scheme and demonstrated acupuncture points made by the doctor.

Description

technical field [0001] The invention relates to a traditional Chinese medicine massage robot, in particular to a traditional Chinese medicine massage robot for middle-aged and elderly degenerative lumbago and leg pain rehabilitation treatment. Background technique [0002] Degenerative low back pain is the most common and one of the degenerative diseases that occur with age. The common degenerative changes of the elderly lumbar spine are the stiffness of the small joints and ligaments. Clinically, it is mostly manifested as waist soreness and discomfort and limited activity. limit. The treatment of degenerative low back and leg pain has always been a difficult problem for spine surgeons, and currently there is no method that can have a good effect on all kinds of low back and leg pain. Therefore, the treatment of degenerative low back pain depends on different etiologies, different pathological changes and different individuals. Massage helps move joints and relax muscles,...

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Problems solved by technology

The patent "massage robot" applied by Yin Baoliang published by the State Intellectual Property Office of the People's Republic of China on May 27, 2009, the application number is 200820118938.3, and the publication number is CN201244171. Or the massage robot for circular massage, the lower end of the mechanical arm uses the rod-end bearing as the fulcrum of the lever massage arm. The massage finger can only perform circular or circular massage mo

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