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Flexible adaptive massage hand with FBG sensing

An adaptive and flexible technology, applied in kneading massage appliances, massage accessories, manipulators, etc., can solve the problems of lack of active sensing means and poor flexibility of massage hands, achieve safe and reliable machine massage, improve safety and precision , to achieve the effect of flexibility and comfort

Inactive Publication Date: 2019-03-08
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, the LLR-1 traditional Chinese medicine massage physiotherapy robot of Shandong Jianzhu University can realize traditional Chinese massage techniques such as pressing, kneading, rolling, striking, and kneading, but the flexibility is poor.
In addition, Lianyungang Vocational and Technical College has designed a flexible massage hand based on a pneumatically driven metamorphic mechanism. The flexible massage is realized through the pneumatic metamorphic mechanism, but there is no active perception of the massage hand during massage.

Method used

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  • Flexible adaptive massage hand with FBG sensing
  • Flexible adaptive massage hand with FBG sensing
  • Flexible adaptive massage hand with FBG sensing

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Embodiment Construction

[0024] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0025] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0026] In an implementation example provided by this application, such as figure 2 As shown, a flexible adapti...

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Abstract

The invention discloses a flexible adaptive massage hand with FBG sensing, which comprises a plurality of soft finger structures; the soft finger structures are connected to a palm base respectively,wherein one soft finger structure is connected to the palm base through a rotating structure; the soft finger structures are imbedded with a FBG sensor, which is used to sense the bending degree and massage strength of the finger and transmit the signal to a controller; the controller controls a pneumatic device to achieve the adjustment of the air pressure size in the soft finger structures. TheFBG sensor is implanted inside the finger, so that the sensing and feedback of the flexion degree of the finger and massage strength can be carried out, the safety and precision is improved. The jointof thumb and palm is a manual rotation axis, which can adjust the position of the thumb, thereby achieving three standard massages of pressing, pushing and kneading, and being important to achieve safe and reliable machine massage.

Description

technical field [0001] The disclosure relates to the technical field of bionic soft robots and physiotherapy massage appliances, in particular to a flexible adaptive massage hand with FBG sensing. Background technique [0002] Traditional Chinese medicine massage has a long history in my country. It can dredge the meridians, promote blood circulation, lymphatic circulation and the metabolism between various tissues, make the functions of various tissues and organs more coordinated, improve the metabolism of the human body, and achieve the purpose of treating diseases. However, the cost of manual massage is high, the labor intensity is high, and the massage effect is related to the experience level of the masseur, and there are even potential safety hazards. Therefore, designing a safe and comfortable massage hand has become an urgent clinical need. [0003] There have been many research inventions about bionic machine massage hands. For example, the LLR-1 traditional Chine...

Claims

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Application Information

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IPC IPC(8): A61H7/00B25J9/16B25J11/00B25J15/00
CPCA61H7/002A61H7/007A61H2201/165A61H2201/1659B25J9/161B25J9/1612B25J9/1633B25J11/00B25J15/0023
Inventor 蒋奇冯建航
Owner SHANDONG UNIV
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