Self-adaptive control method for precise acupoint massage

Abstract

The invention relates to a self-adaptive control method for precise acupoint massage, which comprises the following steps of: 1, running a massage hand along the back contour of a user, and then measuring the weight of the user; step 2, substituting the back height measured in the step 1 into a height conversion formula to obtain an estimated value of the height of the human body, and then calculating a BMI value; step 3, comparing the BMI value obtained in the step 2 with a standard BMI value; 4, comparing the shoulder breadth measured in the step 1 with the shoulder breadth of a standard human body acupuncture point model, adjusting the total massage distance of a massage hand, collecting information such as heights and shoulder breadths of different audiences through the human body back profiling moving track of the massage hand, further collecting the body weight of the audiences, and calculating the body weight of the audiences. Different information is compared with standard human body acupuncture point model layouts recorded in the system, so that the massage distance and the massage track length of the massage hand are adjusted and controlled in a self-adaptive mode, and accurate massage of the massage hand for massage acupuncture points of different human bodies is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of massagers, and in particular to an adaptive control method for precise acupoint massage. Background Art

[0002] With social progress and economic development, the pace of life is accelerating, and people's work pressures are increasing. Muscle stiffness caused by prolonged sitting is becoming increasingly serious. Therefore, massage chairs, which alleviate muscle stiffness, are an effective means of reducing it. However, demands for acupuncture-specific massage and precision are constantly increasing. The precise, targeted massage of massage chairs, based on the principles of Traditional Chinese Medicine (TCM), is an effective way to achieve muscle relaxation.

[0003] However, due to the large user base of massage chairs, different users have different body types, such as height and weight, which makes it difficult for massage chairs to accurately massage acupoints. Therefore, there is an urgent need for a method to accurately control massage positions that can be adjusted according to different body types and user groups. Summary of the Invention

[0004] Purpose of the present invention: In order to overcome the defects of the prior art, the present invention provides an adaptive control method for precise acupoint massage, which collects information such as the height and shoulder width of different audiences by imitating the running trajectory of the massage hand on the human back, and further collects the weight of the audience. According to different information, it is compared with the standard human acupoint model layout entered into the system, so as to adaptively adjust the massage spacing and massage trajectory length of the massage hand, and realize precise massage of the massage hand for different massage points of the human body.

[0005] The present invention discloses an adaptive control method for acupoint precision massage, which is characterized by comprising the following steps:

[0006] Step 1: Data collection: A massage hand with a flexible strain sensor is used to run along the contour of the user's back to obtain the user's shoulder width and back height. The user's weight is then measured through manual input or pressure sensors.

[0007] Step 2: Calculate body mass index. Substitute the back height measured in step 1 into the height conversion formula to get an estimated value of human height. Then use the formula BMI = weight ÷ (height * height) to get the BMI value.

[0008] Step 3, strength selection, compare the BMI value obtained in step 2 with the standard BMI value. If the user's BMI value is within the standard BMI value range, use the normal strength; if the user's BMI value is less than the standard BMI value, use a smaller massage strength; if the user's BMI value is greater than the standard BMI value, use a larger massage strength;

[0009] Step 4, massage hand acupoint adjustment, by comparing the shoulder width measured in step 1 with the shoulder width of the standard human acupoint model, obtain the ratio of the actual shoulder width to the shoulder width of the standard human acupoint model as a, and adjust the distance between the massage hands according to the measured ratio a, and the ratio of the back height measured in step 1 to the back height of the standard human acupoint model as b, and adjust the total massage distance of the massage hands according to the measured ratio b.

[0010] By adopting the above technical solution, the height, shoulder width and other information of different audiences are collected through the massage hand's human back-imitation running trajectory, and the audience's weight is further collected. According to different information, it is compared with the standard human acupoint model layout entered into the system, so as to adaptively adjust the massage distance and massage trajectory length of the massage hand, and realize the massage hand's precise massage of massage points on different human bodies.

[0011] The present invention is further configured as follows: the running trajectory in step 1 includes trajectory I, trajectory II and trajectory III. For trajectory I, the starting point is set to a position 0-10 cm away from the outer contour of the left shoulder, and the running is carried out along the back contour. For trajectory II, the starting point is set to a position 0-10 cm away from the outer contour of the right shoulder, and the running is carried out along the back contour. For trajectory III, the starting point is set to the center position of the shoulder, and the running is carried out along the back contour.

[0012] By adopting the above technical solution, multiple directions are run along the back contour, which can fully collect the user's back width and height information, so that it can be more accurate in the next step of acupoint massage.

[0013] The present invention is further configured as follows: if a<1, it is defined as the user being thin and having narrow shoulders, then the actual massage distance between the massage hands = the conventional massage distance based on the standard human acupoint model × a, and the actual massage distance is proportionally reduced; if a>1, it is defined as the user being fat and having wide shoulders, then the actual massage distance between the massage hands = the conventional massage distance based on the standard human acupoint model × a, and the actual massage distance is proportionally enlarged; if b<1, then the actual total longitudinal massage distance of the massage hands = the conventional massage distance based on the standard human acupoint model × b, and the actual total longitudinal distance of the massage hands is proportionally reduced; if b>1, it is defined as the user being fat and having wide shoulders, then the actual total longitudinal distance of the massage hands is proportionally reduced or enlarged.

[0014] By adopting the above technical solution, each degree of the human body can be found more accurately by proportionally enlarging or reducing, thereby increasing the effect of degree massage.

[0015] A further configuration of the present invention includes a memory storage module, which includes a storage database, and transmits the recorded signal to the storage database through the single chip microcomputer.

[0016] By adopting the above technical solution, for the special massage strength specifically proposed by the user, the processor specifically memorizes the pressure strength value of the flexible sensor; for the special avoidance area (the place that cannot be massaged) specifically proposed by the user, its individual needs are memorized, and when the massage is turned on in the future, it prompts whether to still avoid the place; and it remembers the user's special preferences. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Flowchart of the present invention;

[0018] Figure 2 Schematic diagram of multiple positions when the present invention is applied;

[0019] Figure 3 This is a schematic diagram of the structure of the robot of the present invention;

[0020] Figure 4 It is the acupuncture point map of the present invention;

[0021] Figure 5 This is a schematic diagram of the manipulator of the present invention applied to the upper shoulder;

[0022] Figure 6 This is a schematic diagram of the manipulator of the present invention applied to the lower shoulder;

[0023] Figure 7 This is a schematic diagram of the manipulator of the present invention applied to the upper chest;

[0024] Figure 8 This is a schematic diagram of a section of the middle chest where the manipulator of the present invention is applied;

[0025] Figure 9 This is a schematic diagram of the fault of the manipulator of the present invention applied to the diaphragm;

[0026] Figure 10 This is a schematic diagram of the cross-section of the manipulator of the present invention applied to the abdomen. DETAILED DESCRIPTION

[0027] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings:

[0028] In the description of the present invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention.

[0029] The present invention discloses an adaptive control method for acupoint precision massage, and in an implementation case of the present invention, the following steps are included:

[0030] Step 1: Data collection: A massage hand with a flexible strain sensor is used to run along the contour of the user's back to obtain the user's shoulder width and back height. The user's weight is then measured through manual input or pressure sensors.

[0031] Step 2: Calculate body mass index. Substitute the back height measured in step 1 into the height conversion formula to get an estimated value of human height. Then use the formula BMI = weight ÷ (height * height) to get the BMI value. The unit of BMI is kg / m2. BMI < 18.5: underweight; 18.5 ≤ BMI < 24.9: normal weight; 25 ≤ BMI < 29.9: overweight; BMI ≥ 30: obese.

[0032] Step 3, strength selection, compare the BMI value obtained in step 2 with the standard BMI value. If the user's BMI value is within the standard BMI value range, use the normal strength; if the user's BMI value is less than the standard BMI value, use a smaller massage strength; if the user's BMI value is greater than the standard BMI value, use a larger massage strength. The strength control formula is F hd =K r K f K h K0, massage force applied to the human body and skin elasticity coefficient K h and intermediate conversion coefficient K f The clothes have a strong attenuation effect on pressure (refer to "Establishment and Implementation of Clothing Dynamic Simulation and Human Body Force Analysis Model"). K0 is measured experimentally (when the coat is 10mm thick, it is 1.8, that is, the pressure needs to be increased by 1.8 times). When BMI is less than 18.5, if the weight is w, then K r =w / 18.5; 18.5≤BMI<24.9, if the weight is w, then K r =1; BMI≥30, if weight is w, then K r =w / 30;

[0033] Step 4, massage hand acupoint adjustment, by comparing the shoulder width measured in step 1 with the shoulder width of the standard human acupoint model, obtain the ratio of the actual shoulder width to the shoulder width of the standard human acupoint model as a, adjust the massage hand spacing according to the measured ratio a, by the ratio of the back height measured in step 1 to the back height of the standard human acupoint model as b, adjust the total massage distance of the massage hand according to the measured ratio b, collect information such as the height and shoulder width of different audiences through the human back profiling running trajectory of the massage hand, further collect the audience's weight, and compare the different information with the standard human acupoint model layout entered in the system, so as to adaptively adjust the massage distance and massage trajectory length of the massage hand, and realize precise massage of massage points on different human bodies by the massage hand.

[0034] The running trajectory in step 1 includes trajectory I, trajectory II and trajectory III. For trajectory I, the starting point is set to a position 0-10 cm away from the outer contour of the left shoulder, and the machine runs along the back contour. For trajectory II, the starting point is set to a position 0-10 cm away from the outer contour of the right shoulder, and the machine runs along the back contour. For trajectory III, the starting point is set to the center of the shoulder, and the machine runs along the back contour. Running along the back contour in multiple directions can fully collect the user's back width and height information, so that it can be more accurate in the next step of acupoint massage.

[0035] If a<1, it means that the user is thin and has a small shoulder width, then the actual massage distance between the massage hands = the conventional massage distance based on the standard human acupoint model × a, and the actual massage distance is proportionally reduced; if a>1, it means that the user is fat and has a large shoulder width, then the actual massage distance between the massage hands = the conventional massage distance based on the standard human acupoint model × a, and the actual massage distance is proportionally enlarged. If b<1, the actual total longitudinal massage distance of the massage hands = the conventional massage distance based on the standard human acupoint model × b, and the actual total longitudinal distance of the massage hands is proportionally reduced; if b>1, it means that the user is fat and has a large shoulder width, then the actual total longitudinal distance of the massage hands is proportionally reduced or enlarged. By proportionally enlarging or reducing, the various degrees of the human body can be found more accurately, thereby increasing the effect of degree massage.

[0036] It also includes a memory storage module (the same as the memory adjustment function of the car seat, the specific control circuit belongs to the existing technology, and this article will not introduce it in detail), which includes a storage database, and transmits the recorded signal to the storage database through the single-chip microcomputer. For the special massage strength specifically proposed by the user, the processor specifically memorizes the pressure strength value of the flexible sensor; for the special avoidance area (the place that cannot be massaged) specifically proposed by the user, its individual needs are memorized, and when the massage is turned on in the future, it prompts whether to still avoid the place; and it remembers the user's special preferences.

[0037] In summary, the control method can be implemented by a manipulator. The massage manipulator specifically includes a base, a massage component and a knock transmission component. The massage component includes a left swing arm and a right swing arm. The left swing arm is provided with a left massage piece, and the right swing arm is provided with a right massage piece. The knock transmission component includes a knock shaft and a knock motor. The left swing arm and the right swing arm are respectively jacketed on the knock shaft, and also include an adjusting device. The left swing arm is provided with a left driving piece for driving the left massage piece to extend and retract, and the right swing arm is provided with a right driving piece for driving the right massage piece to extend and retract. Flexible strain sensors are provided on the left massage piece and the right massage piece. The flexible strain sensors include thin film resistance strain sensors. The rigid drive swing arm is optimized into a multi-stage swing arm made of flexible material. The left driving piece and the right driving piece use cylinders, which are sensed by sensors and then commanded to extend and retract, thereby driving the corresponding massage piece to extend and retract, further adapting to the contour changes of the human back and legs, and realizing adaptive simulation adjustment.

Claims

1. An adaptive control method for precise acupoint massage, characterized by: The following steps are included Step 1: Data collection: A massage hand with a flexible strain sensor is used to run along the contour of the user's back to obtain the user's shoulder width and back height. The user's weight is then measured through manual input or pressure sensors. Step 2: Calculate body mass index. Substitute the back height measured in step 1 into the height conversion formula to get an estimated value of human height. Then use the formula BMI = weight ÷ (height * height) to get the BMI value. Step 3, strength selection, compare the BMI value obtained in step 2 with the standard BMI value. If the user's BMI value is within the standard BMI value range, use the normal strength; if the user's BMI value is less than the standard BMI value, use a smaller massage strength; if the user's BMI value is greater than the standard BMI value, use a larger massage strength; Step 4, massage hand acupoint adjustment, by comparing the shoulder width measured in step 1 with the shoulder width of the standard human acupoint model, obtain the ratio of the actual shoulder width to the shoulder width of the standard human acupoint model as a, and adjust the distance between the massage hands according to the measured ratio a, and the ratio of the back height measured in step 1 to the back height of the standard human acupoint model as b, and adjust the total massage distance of the massage hands according to the measured ratio b.

2. The adaptive control method for acupoint precision massage according to claim 1, characterized in that: The running trajectory in step 1 includes trajectory I, trajectory II and trajectory III. For trajectory I, the starting point is set to a position 0-10 cm away from the outer contour of the left shoulder, and the running is carried out along the back contour. For trajectory II, the starting point is set to a position 0-10 cm away from the outer contour of the right shoulder, and the running is carried out along the back contour. For trajectory III, the starting point is set to the center position of the shoulder, and the running is carried out along the back contour.

3. The adaptive control method for acupoint precision massage according to claim 1 or 2, characterized in that: If a<1, it means that the user is thin and has small shoulders. In this case, the actual massage distance between the massage hands = the conventional massage distance based on the standard human acupoint model × a, and the actual massage distance is proportionally reduced; if a>1, it means that the user is fat and has large shoulders. In this case, the actual massage distance between the massage hands = the conventional massage distance based on the standard human acupoint model × a, and the actual massage distance is proportionally enlarged.

4. The adaptive control method for acupoint precision massage according to claim 3, characterized in that: If b<1, the actual total longitudinal distance of the massage hand = the conventional massage spacing based on the standard human acupoint model × b, and the actual total longitudinal distance of the massage hand is proportionally reduced; if b>1, it is defined as the user is fat and has wide shoulders, and the actual total longitudinal distance of the massage hand is proportionally reduced or proportionally enlarged.

5. The adaptive control method for precise acupoint massage according to claim 1, 2 or 4, characterized in that: It also includes a memory storage module, which includes a storage database, and transmits the recorded signal to the storage database through the single chip microcomputer.

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