Trajectory planning method of facial operation robot based on facial and skin features

Abstract

The invention discloses a facial operation robot based on facial and skin features and a trajectory planning method thereof. The method comprises the following steps that (1) division of facial operation and non-operation areas is carried out based on sizes of head and facial parts of an adult; (2) two skin tension lines of Langer's lines and wrinkle lines of facial skin are comprehensive analyzed, and the robot operation trajectory is designed according to different positions of facial work areas; (3) the trajectory curve of the facial operation robot is obtained by combining the isoplanar method with the dichotomy method; (4) the robot operation trajectory is optimized based on the curvature of the facial skin; and (5) the optimal facial operation area trajectory point sequence is selected based on the nearest neighbor algorithm to realize robot trajectory planning and obtain the operation trajectory of the facial operation robot. According to the method, the characteristics of faceviscoelasticity, skin anisotropy and human body sensibility are taken into consideration for human facial operations to design and plan the trajectory, to improve the stability of robot operation andreduce impact, so that efficient and continuous operations of the facial area are achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a facial working robot based on facial and skin features and a trajectory planning method thereof. Background technique [0002] Due to the problems of large demand for practitioners, high skill requirements, long training period, and high labor costs in the fields of medical rehabilitation, massage health care, and beauty care, the demand for robots that directly contact the human face is gradually increasing. At present, in the research on trajectory planning of skin operation robots at home and abroad, the trajectory of rehabilitation robots used in limb recovery training and treatment is mainly a set fixed trajectory; The linear motion trajectory obtained by fitting; the robot applied to facial oral rehabilitation can obtain the initial trajectory by marking the feature points on the face CT image, and correct the initial trajectory by combining the skin elasticity compensatio...

AI Technical Summary

Problems solved by technology

[0004] The existing technology cannot ensure that the robot can avoid key parts such as the eyes, nose, and mouth during facial operations, improve the stability of the operation, reduce the impact, and complete the facial area operations efficiently and coherently. Therefore, it is necessary to design a new robot based on Facial skin working robot based on facial skin features and its trajectory planning method

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