A trajectory planning method for facial robot based on facial and skin features

Abstract

The invention discloses a facial operation robot and its trajectory planning method based on facial and skin features, comprising the following steps: (1) dividing the facial operation and non-operation areas based on the size of the head and face of an adult; (2) comprehensively analyzing the face Two types of skin tension lines, skin Langer's line and wrinkle line, are used to design robot operation trajectories for different facial operation areas; (3) Combining isoplane method and dichotomy method to obtain facial operation robot trajectory curve; (4) Based on facial skin curvature Robot operation trajectory optimization; (5) Based on the nearest neighbor algorithm, select the optimal sequence of trajectory points in the facial operation area, realize robot trajectory planning, and obtain the operation trajectory of the facial operation robot. The present invention designs and plans trajectory considering characteristics such as facial viscoelasticity, skin anisotropy, and human sensitivity for human facial operations, improves the stability of robot operation, reduces impact, and realizes efficient and coherent operation of the facial area.

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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