Flexible drive bionic massage manipulator based on pneumatic artificial muscles

Abstract

The invention relates to a flexible drive bionic massage manipulator based on pneumatic artificial muscles, and belongs to the technical field of flexible drive and bionic machines. A parallel connection flexible drive unit formed by the pneumatic artificial muscles can realize multi-degree-of-freedom movement of each finger, so that the manipulator has high flexibility. The manipulator provided by the invention has 16 degress of freedom of motion, and is high in function integration level, high in flexibility, compact in structure, and capable of simulating massage actions such as pushing, pressing, massaging and pinching of a human hand. Meanwhile, the tissue hardenability of different parts of a human body is sensed through a tactile sensation unit, so that a massage force is adjusted,and an intelligent level of the manipulator is improved. On the basis, the manipulator can be further integrated with a near-infrared angiography module, an infrared thermal imaging module and the like, an effective characterization method and an evaluation mechanism are provided for human body massage quality, and a massage effect is further improved, so that the flexible drive bionic massage manipulator based on the pneumatic artificial muscles has an important application value in the fields such as home service robots, medical rehabilitation and traditional Chinese medicine physical therapy.

Description

technical field [0001] The invention relates to the technical field of flexible driving and bionic machinery, in particular to a flexible driving bionic massage manipulator based on pneumatic artificial muscles. The present invention can be further integrated with modules such as near-infrared vascular imaging module, infrared thermal imaging module, six-degree-of-freedom platform, etc., to accurately locate the patient's lesion and realize diversified massage actions, and to optimize the massage effect and establish an effect evaluation and monitoring mechanism It is of great significance to relieve the work pressure of masseuses. It provides an effective experimental method for revealing the mechanism of traditional Chinese medicine massage and the law of curative effect. Background technique [0002] Massage is a method that acts on the soft tissue, fascia, and ligaments of specific parts of the human body through the external force generated by "manipulation" to soften ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a flexible-driven bionic massage manipulator based on pneumatic artificial muscles, which solves the problems of the existing massage manipulators such as single massage function, insufficient flexibility, and difficulty in controlling the massage force.

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