Intelligent synchronous hand simulation massage system

Abstract

The invention relates to the technical field of massagers, in particular to an intelligent synchronous human hand simulation massage system, which comprises a main control board configured to be compatible with various massager devices; the massage heads are connected with the main control board; the remote control interface is used for receiving a control instruction from the applet / APP; and the synchronous control module is used for adjusting the movement of the massage head according to the received control instruction, and when the remote control end rotates the virtual massage head, the massage head realizes synchronous rotation. A user controls rotation of the virtual massager through a mobile phone application or an applet, the entity massager can synchronously perform corresponding actions, meanwhile, the operation state of the entity massager can be synchronized to the application in real time, remote synchronous control and real-time feedback can be achieved, corresponding parts of the small dummy are pressed through a remote controller of a control party, and the real-time control of the virtual massager is achieved. And corresponding parts of the networking massager generate similar actions, so that remote simulation massage is realized.

Description

Technical Field

[0001] This application relates to the technical field of massagers, and more particularly to an intelligent synchronous human hand simulation massage system. Background Art

[0002] Currently, a massager is a device used to simulate the actions and effects of human hand massages to achieve the purposes of relaxing muscles, promoting blood circulation, relieving fatigue, and reducing body pain. Massagers can come in various forms and specifications, from small handheld devices to large massage chairs. They usually use mechanical vibrations, rolling, knocking, etc. to simulate different massage techniques, such as kneading, tapping, and pushing;

[0003] In the field of traditional massagers, existing massager control systems usually cannot achieve synchronization between the control end and the controlled end, nor can they provide accurate feedback during remote or local control. Therefore, there is a technical problem that needs to be solved, that is, how to provide an innovative massager control system to achieve synchronous control and control of massage techniques. For this purpose, an intelligent synchronous human hand simulation massage system is proposed. Summary of the Invention

[0004] To solve the problem that existing massager control systems usually cannot achieve synchronization between the control end and the controlled end, nor can they provide accurate feedback during remote or local control, the intelligent synchronous human hand simulation massage system provided by this application adopts the following technical solutions: a main control board configured to be compatible with a variety of massager devices and integrated with data processing capabilities to analyze and process control signals in real time;

[0005] Multiple massage heads connected to the main control board, each massage head is equipped with an independent sensor for detecting and adjusting massage pressure and speed to adapt to the massage needs of different users;

[0006] A remote control interface for receiving control instructions from a mini-program / APP;

[0007] A synchronous control module for adjusting the movement of the massage heads according to the received control instructions. When the remote control end rotates the virtual massage head, the massage heads rotate synchronously;

[0008] An adaptive force adjustment module that automatically adjusts the force and speed of the massage heads according to the user's real-time feedback to adapt to the comfort requirements of different users;

[0009] A multi-modal interaction interface that supports voice control in addition to traditional mini-program / APP control to provide more intuitive and diverse user interaction methods.

[0010] Optionally, the main control board further includes:

[0011] A multi-device control component for simultaneously controlling multiple massage heads;

[0012] Multiple data receiving modules are used to receive data signals from the remote control terminal.

[0013] Optionally, the remote control interface includes: a BLE Bluetooth module and a WiFi module, which are used to receive control instructions from the mini-program / APP.

[0014] Optionally, the synchronization control module is configured to:

[0015] Receive and parse the sliding trajectory of the finger in the mini-program / APP. The synchronization control module uses an advanced data parsing algorithm to accurately capture and parse the finger sliding operation performed by the user on the mini-program or APP, and uses a coordinate tracking system to record each position point (x, y coordinates) of the finger on the screen, as well as the timestamp (t) of each point;

[0016] Generate corresponding control signals according to the finger sliding trajectory, and the generation is based on the following calculations:

[0017] Angle calculation: Calculate the instantaneous angle θ of the finger sliding through the coordinate difference of two consecutive position points, and use the formula θ = atan2(Δy, Δx);

[0018] Speed calculation: Calculate the instantaneous speed v of the finger sliding, and use the formula v = √(Δx2 + Δy2) / Δt, where Δt is the time difference between two consecutive points;

[0019] Acceleration calculation: Calculate the acceleration a of the finger sliding, and use the formula a = (v2 - v1) / Δt, where v1 and v2 are the speeds at two consecutive time points respectively;

[0020] Control the massage head to move according to the generated control signals. Based on the calculated angle, speed and acceleration above, the synchronization control module converts the data into the rotational speed and rotation direction parameters of the motor to ensure that the massage head can accurately imitate the movement characteristics of the user's finger.

[0021] Optionally, the control signals include:

[0022] The angle difference of the finger sliding, and the angle difference is based on the change of two consecutive finger position points;

[0023] Set two consecutive coordinate points as (x1, y1) and (x2, y2), and the angle difference calculation formula is: Δθ =

[0024] atan2(y2 - y1, x2 - x1) - atan2(y1 - y0, x1 - x0), where (x0, y0) is the previous coordinate point;

[0025] The angular velocity of finger sliding. The angular velocity ω is a physical quantity that describes the change in finger sliding speed;

[0026] ω = Δθ / Δt, where Δθ is the angle difference and Δt is the time difference between two coordinate points;

[0027] If the angle change of finger sliding from one point to another is 30 degrees and the time difference is 0.2 seconds, then the angular velocity is 150 degrees / second;

[0028] The acceleration of finger sliding. The acceleration a is a physical quantity that describes the rate of change of finger sliding speed;

[0029] a = (v2 - v1) / Δt, where v1 and v2 are the speeds at two consecutive time points respectively, and Δt is the time difference.

[0030] Optionally, the conversion of the control signal into the control signal of the motor includes:

[0031] The motor speed gain is defined as the ratio between the motor speed and the finger movement speed. When the user moves the finger through the applet or APP interface, the movement speed of the finger is calculated in real time, and according to the preset speed gain coefficient, the finger speed is converted into the motor speed;

[0032] If the speed gain coefficient is 2 and the finger movement speed is 50 mm / s, then the motor speed is set to 100 revolutions per minute;

[0033] The calculation of the speed gain is expressed as: motor speed = finger speed × speed gain coefficient;

[0034] The motor acceleration gain refers to the relationship between the motor acceleration and the finger movement acceleration. When the user changes the finger movement speed, the finger acceleration is calculated, and according to the preset acceleration gain coefficient, the finger acceleration is converted into the motor acceleration;

[0035] If the acceleration gain coefficient is 1.5 and the finger acceleration is 2 m / s 2 , then the motor acceleration is set to 3 m / s 2 ;

[0036] The calculation of the acceleration gain is expressed as: motor acceleration = finger acceleration × acceleration gain coefficient.

[0037] Optionally, the adaptive force adjustment module is an integrated sensor of a pressure sensor and a tactile sensor, which is used to capture the user's feedback on the massage force and speed in real time during use. The sensor measures the pressure exerted by the user's skin on the massage head or the frequency of the user manually adjusting the position of the massage head, and then uses a data analysis algorithm to analyze the collected feedback data to identify the user's comfort preference. Based on the analyzed user preference, the adaptive force adjustment module automatically adjusts the force and speed of the massage head.

[0038] Optionally, through a dedicated mini-program or APP on the smart device, users can select massage modes, adjust the force, and perform personalized settings, and integrate voice recognition technology to allow users to control various functions of the massage system through voice commands, such as "start massage", "adjust to medium force", and "turn off massage".

[0039] In summary, the present application includes the following beneficial technical effects:

[0040] 1. In the present invention, the user controls the rotation of the virtual massager through a mobile application or mini-program, and the physical massager will perform corresponding actions synchronously. At the same time, the operation status of the physical massager will also be synchronously updated to the application in real time, enabling remote synchronous control and real-time feedback.

[0041] 2. In the present invention, by pressing the corresponding part of the small dummy on the remote control of the control party, the corresponding part of the networked massager will generate similar actions, realizing remote simulation massage.

[0042] 3. The general main control board of the present invention can be used in combination with hardware rotary knobs and buttons. When the control party moves the knob, the massager will also rotate synchronously and provide damping feedback. It is suitable for high-end massagers that control motors and can be used for remote or local control.

[0043] 4. In the present invention, through remote or local control, that is, when the control end rotates the massage head, the massage head of the controlled end will rotate synchronously. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is the flowchart of the massage system of the present invention;

[0045] Figure 2 is the motor control signal diagram of the present invention;

[0046] Figure 3 is the flowchart of the massage control steps of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0047] The following will further elaborate on the present application in conjunction with the attached Figures 1-3 for a more detailed description.

[0048] The embodiments of this application disclose an intelligent synchronous human - hand simulation massage system and a main control board, which is configured to be compatible with a variety of massager devices and integrate data - processing capabilities to analyze and process control signals in real time;

[0049] The main control board further includes:

[0050] A multi - device control component, which is responsible for controlling multiple massage heads simultaneously, allowing the massager to work in multiple areas at the same time, thus providing a more comprehensive massage experience;

[0051] The control process of the intelligent synchronous human - hand simulation massage system is divided into the following steps:

[0052] Step 1: The user operates the massage head on the virtual interface through a mini - program or APP. This operation includes rotating the virtual massage head to simulate actual massage actions;

[0053] Step 2: The data of the user's operation is transmitted to the data - receiving module of the main control board via BLE Bluetooth or WiFi;

[0054] Step 3: After the main control board receives the data, the multi - device control component converts the instructions into actual motor movements to drive the massage head to move in the way specified by the user.

[0055] The user can monitor and control the actions of the massager in real time through a mobile application or mini - program. At the same time, the operation status of the physical massager is also synchronized to the application in real time, providing intuitive feedback to the user.

[0056] Multiple data - receiving modules are used to receive data signals from the remote control end. The signals can be transmitted through BLE Bluetooth or WiFi modules, ensuring the stability and efficiency of data transmission. During the operation, the user controls the massage head through the mini - program or APP interface, such as rotating the virtual massage head. The data signals generated by the operation are transmitted to the main control board of the massager via BLE Bluetooth or WiFi. The data - receiving module in the main control board first receives the signals, then analyzes the signal content, and converts it into motor control instructions to drive the massage head to perform corresponding movements, not only ensuring the accurate transmission of operation instructions, but also improving the response speed and reliability of the system, making the remote - control massage experience more smooth and intuitive. In addition, by adopting two different communication technologies, BLE Bluetooth and WiFi, its communication ability to adapt to different environments and conditions is enhanced, ensuring stable communication effects in various different usage scenarios.

[0057] Multiple massage heads connected to the main control board. The massage heads are directly connected to the main control board, enabling them to receive precise control instructions from the main control board. Each massage head is equipped with a mechanical structure and a transmission system adapted to different massage needs, allowing it to perform various complex and delicate massage movements. When the user sends control instructions through a mini-program or APP, the main control board generates corresponding motor control signals based on these instructions and transmits these signals to each connected massage head. The drive device inside each massage head responds to the signals and controls the massage head to move according to the rotation mode and vibration intensity set by the user.

[0058] Remote control interface, BLE Bluetooth module, and WiFi module for receiving control instructions from the mini-program / APP.

[0059] Synchronization control module for adjusting the movement of the massage heads according to the received control instructions. When the virtual massage head is rotated at the remote control end, the massage heads rotate synchronously.

[0060] When the user operates the virtual massage head at the remote control end through the mini-program or APP interface, the generated control instructions are transmitted to the main control board through the BLE Bluetooth or WiFi module. After receiving the instructions, the synchronization control module immediately processes and analyzes these data, converting them into specific motor movement instructions. Next, the synchronization control module sends these motor movement instructions to each connected massage head. The drive system inside each massage head adjusts its movement according to the received instructions to ensure that its movement is completely synchronized with the virtual massage head operated at the remote control end. This synchronization includes not only the basic movement direction and speed but also the subtle differences in each action, thus achieving a highly realistic simulated massage experience.

[0061] It also includes a status feedback module for synchronously feedbacking the operation status of the massage heads to the mini-program / APP. The status feedback module is as follows:

[0062] Real-time monitoring: The status feedback module continuously monitors the movement status of each massage head, including but not limited to rotation speed, direction, movement mode, and any other key operation parameters.

[0063] Data collection and processing: The module collects these movement status data and performs necessary processing and formatting for easy transmission and display.

[0064] Information transmission: The processed status data is transmitted back to the user's mini-program or APP in real-time through the BLE Bluetooth or WiFi module.

[0065] User interface display: After receiving these data, the mini-program / APP displays them in a graphical, textual, or other intuitive way on the user interface, enabling the user to clearly understand the real-time working status of the massage heads.

[0066] In this embodiment, the synchronization control module is configured as follows:

[0067] The synchronization control module first receives the data generated by the user's finger sliding in the mini-program or APP. The data includes the sliding trajectory of the finger on the virtual massage head.

[0068] Receive and parse the sliding trajectory of the finger in the mini-program / APP. The synchronization control module uses an advanced data parsing algorithm to accurately capture and parse the finger sliding operation performed by the user on the mini-program or APP. A coordinate tracking system is used to record each position point (x, y coordinates) of the finger on the screen and the timestamp (t) of each point. Suppose the user's finger slides from point A(10, 15) to point B(20, 25) on the screen, and the time difference between these two points is 0.5 seconds.

[0069] Generate corresponding control signals according to the finger sliding trajectory, and the generation is based on the following calculations:

[0070] Angle calculation: Calculate the instantaneous angle θ of the finger sliding by the coordinate difference of two consecutive position points. Use the formula θ = atan2(Δy, Δx). Based on the previous example, Δy = 25 - 15 = 10, Δx = 20 - 10 = 10, so θ = atan2(10, 10) ≈ 45°.

[0071] Speed calculation: Calculate the instantaneous speed v of the finger sliding. Use the formula v = √(Δx² + Δy²) / Δt, where Δt is the time difference between two consecutive points. Continuing the above example, the moving distance = √(10² +

[0072] 10²) ≈ 14.14, the time difference = 0.5 seconds, so v ≈ 14.14 / 0.5 ≈ 28.28 units / second.

[0073] Acceleration calculation: Calculate the acceleration a of the finger sliding. Use the formula a = (v2 - v1) / Δt, where v1 and v2 are the speeds at two consecutive time points respectively. Suppose the speed of the finger to the next point C is v2 = 40 units / second and the time difference is the same, then a = (40 - 28.28) / 0.5 ≈ 23.44 units / second².

[0074] Control the massage head to move according to the generated control signals. Based on the calculated angle, speed and acceleration above, the synchronization control module converts the data into the rotational speed and rotation direction parameters of the motor to ensure that the massage head can accurately imitate the motion characteristics of the user's finger.

[0075] The angular difference of the finger sliding, which is based on the change of two consecutive finger position points.

[0076] Set two consecutive coordinate points as (x1, y1) and (x2, y2), and the formula for calculating the angle difference is: Δθ =

[0077] atan2(y2 - y1, x2 - x1) - atan2(y1 - y0, x1 - x0), where (x0, y0) is the previous coordinate point;

[0078] Suppose the finger moves from point A(x0, y0) = (1, 1) to point B(x1, y1) = (4, 5) and then to point C(x2, y2) = (7, 9). First, calculate the angle θ1 of AB = atan2(5 - 1, 4 - 1) ≈

[0079] atan2(4, 3) ≈ 53.13°, then calculate the angle θ2 of BC = atan2(9 - 5, 7 - 4) ≈

[0080] atan2(4, 3) ≈ 53.13°. Therefore, the angle difference Δθ ≈ 53.13° - 53.13° = 0°.

[0081] The angular velocity of finger sliding. Angular velocity ω is a physical quantity that describes the change in the finger sliding speed;

[0082] ω = Δθ / Δt, where Δθ is the angle difference and Δt is the time difference between two coordinate points. Suppose the moving time Δt of the above finger from point B to point C is 0.2 seconds, and the angular velocity ω = 0° / 0.2 seconds = 0° / second;

[0083] The acceleration of finger sliding. Acceleration a is a physical quantity that describes the rate of change of the finger sliding speed;

[0084] a = (v2 - v1) / Δt, where v1 and v2 are the speeds at two consecutive time points respectively, and Δt is the time difference. Suppose the speed v1 from point A to point B is 2 m / s and the speed v2 from point B to point C is 4 m / s.

[0085] The acceleration a = (4 - 2) m / s / 0.2 s = 10 m / s2.

[0086] The control signal is converted into the control signal of the motor, including:

[0087] Motor speed gain, which is proportional to the speed of finger movement, and the rotation speed of the motor will be adjusted accordingly according to the finger movement speed;

[0088] Motor acceleration gain, which is proportional to the acceleration of finger movement, enabling the motor to respond to the change in finger acceleration.

[0089] The motor control signal is transmitted to the main control board of the massager through the BLE Bluetooth and WiFi modules to ensure the efficiency and stability of signal transmission.

[0090] In this embodiment, the main control board is configured as follows:

[0091] Receive motor control signals, including motion parameters such as the speed and acceleration of a specific motor, which are generated based on the user's operations in the mini-program or APP and are processed and converted by the synchronization control module;

[0092] The main control board drives the massage head according to the received motor control signals. This involves instruction conversion, converting the motor control signals into specific motor movements, adjusting the rotation speed, changing the rotation direction, or executing specific motion patterns;

[0093] When the motor control signal indicates an increase in speed, the main control board adjusts the power output of the motor to make the massage head rotate or move faster.

[0094] When the control signal requires a change in direction, the main control board ensures that the motor can quickly and smoothly adjust its rotation direction, thereby changing the movement direction of the massage head.

[0095] The overall steps of the control process of the present invention are as follows:

[0096] Step 1: Draw two turntables on the mini-program / APP page. The turntables represent the control interface of the massage head and are used to simulate the actual movement of the massage head;

[0097] Step 2: Capture the sliding trajectory of the user's finger on the turntable. The system captures the sliding trajectory, which will be used to generate signals for controlling the massage head;

[0098] Step 3: Calculate the angles between the finger position of each frame and the center of the turntable and the horizontal line of the turntable center;

[0099] Step 4: Subtract the angle of the previous frame from the angle of the current frame to calculate the angle difference between the two frames;

[0100] Step 5: Divide the angle difference between the two frames by the time difference between the two frames to obtain the angular velocity of the current frame;

[0101] Step 6: Subtract the angular velocity of one frame from the angular velocity of the current frame and divide by the time between the two frames to obtain the acceleration of the current finger movement;

[0102] Step 7: Convert the angular velocity and angular acceleration of the current frame into motor control signals, which can be achieved by setting the fixed speed gain and acceleration gain of the motor, that is, the motor speed is proportional to the speed of the finger movement, and the motor acceleration is proportional to the acceleration of the finger movement;

[0103] Step 8: Encrypt the acceleration data of the current finger movement and send it to the Bluetooth control board of the massager via BLE Bluetooth;

[0104] Step 9: The Bluetooth control board receives the encrypted data and performs decryption processing;

[0105] Step Ten: The Bluetooth control board controls the motor to rotate according to the processed control signal to achieve the massage effect. This open-loop control algorithm directly converts finger movement parameters at the motor control end.

[0106] Example 1: Basic Massage Operation

[0107] The user controls the massage head to perform basic massage on the back by sliding their finger in the mini-program. On the virtual massage interface of the mini-program, slide the finger in a straight line trajectory from top to bottom.

[0108] Trajectory Capture and Angle Calculation: Assume the finger slides from point A(2, 3) to point B(2, 8);

[0109] Angle Difference Calculation: Δθ = atan2(8 - 3, 2 - 2) - atan2(3 - 0, 2 - 0) ≈ 90° - atan2(3, 2) ≈ 56.31°;

[0110] Speed and Acceleration Calculation:

[0111] Assume the finger movement takes 1 second;

[0112] Speed v = √((2 - 2)2 + (8 - 3)2) / 1 = 5 units / second; If the speed of the previous action is 3 units / second, then the acceleration a = (5 - 3) / 1 = 2 units / second2;

[0113] Massage Head Movement:

[0114] The massage head simulates the sliding trajectory of the finger and slides downward at an angle of 56.31°. The massage speed and intensity are adjusted according to the calculated speed and acceleration.

[0115] Example 2: Advanced Massage Operation

[0116] The user realizes more complex massage operations through the mini-program, such as drawing a circle for shoulder massage, and drawing a circular trajectory with the finger on the interface of the mini-program;

[0117] Trajectory Capture and Angle Calculation:

[0118] Assume the finger draws a circle from point C(5, 5) to point D(5, 10). Angle difference calculation: Δθ = atan2(10 - 5, 5 - 5) - atan2(5 - 0, 5 - 0) ≈ 90° - 45° = 45°.

[0119] Speed and Acceleration Calculation: Assume the finger drawing takes 2 seconds, speed v = √((5 - 5)2 + (10 - 5)2) / 2 = 2.5 units / second. If the speed of the previous action is 2 units / second, then the acceleration a = (2.5 - 2) / 2 = 0.25 units / second2.

[0120] Massage head movement: The massage head simulates the circular trajectory of fingers and rotates for massage at an angle of 45°. The massage speed and intensity are adjusted according to the calculated speed and acceleration to achieve continuous and smooth circular motion.

[0121] The above are all preferred embodiments of this application, and do not limit the protection scope of this application accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of this application shall be covered within the protection scope of this application.

Claims

1. An intelligent synchronous human hand simulation massage system, characterized in that, including a main control board configured to be compatible with a variety of massager devices and integrated with data processing capabilities to analyze and process control signals in real time; a plurality of massage heads connected to the main control board, each massage head being equipped with an independent sensor for detecting and adjusting massage pressure and speed to adapt to the massage needs of different users; a remote control interface for receiving control instructions from a mini-program / APP; a synchronous control module for adjusting the movement of the massage heads according to the received control instructions. When the remote control end rotates the virtual massage head, the massage heads rotate synchronously; an adaptive force adjustment module for automatically adjusting the force and speed of the massage heads according to the user's real-time feedback to adapt to the comfort requirements of different users; a multi-modal interaction interface that supports voice control in addition to traditional mini-program / APP control to provide a more intuitive and diverse user interaction method.

2. The intelligent synchronous human hand simulation massage system according to claim 1, wherein: The main control board further includes: a multi-device control component for simultaneously controlling a plurality of massage heads; a plurality of data receiving modules for receiving data signals from the remote control end.

3. The intelligent synchronous human hand simulation massage system according to claim 1, wherein: The remote control interface includes: a BLE Bluetooth module and a WiFi module for receiving control instructions from a mini-program / APP.

4. The intelligent synchronous human hand simulation massage system according to claim 1, wherein: The synchronous control module is configured to: receive and parse the sliding trajectory of the finger in the mini-program / APP. The synchronous control module uses an advanced data parsing algorithm to accurately capture and parse the finger sliding operation performed by the user on the mini-program or APP, and uses a coordinate tracking system to record each position point (x, y coordinates) of the finger on the screen, as well as the timestamp (t) of each point; generate corresponding control signals according to the finger sliding trajectory, and the generation is based on the following calculations: angle calculation: Calculate the instantaneous angle θ of the finger sliding by the coordinate difference of two consecutive position points, and use the formula θ = atan2(Δy, Δx); speed calculation: Calculate the instantaneous speed v of the finger sliding, and use the formula v = √(Δx2 + Δy2) / Δt, where Δt is the time difference between two consecutive points; acceleration calculation: Calculate the acceleration a of the finger sliding, and use the formula a = (v2 - v1) / Δt, where v1 and v2 are the speeds at two consecutive time points respectively; control the massage heads to move according to the generated control signals. Based on the calculated angle, speed and acceleration above, the synchronous control module converts the data into the rotational speed and rotation direction parameters of the motor to ensure that the massage heads can accurately imitate the movement characteristics of the user's fingers.

5. The intelligent synchronous human hand simulation massage system according to claim 1, wherein: The control signals include: the angle difference of the finger sliding, and the angle difference is based on the change of two consecutive finger position points; Set two consecutive coordinate points as (x1, y1) and (x2, y2), and the angle difference calculation formula is: Δθ = atan2(y2 - y1, x2 - x1) - atan2(y1 - y0, x1 - x0), where (x0, y0) is the previous coordinate point; the angular velocity of the finger sliding, and the angular velocity ω is a physical quantity describing the change of the finger sliding speed; ω = Δθ / Δt, where Δθ is the angle difference and Δt is the time difference between two coordinate points; If the angular change of the finger sliding from one point to another is 30 degrees and the time difference is 0.2 seconds, the angular velocity is 150 degrees per second; The acceleration of the finger sliding. Acceleration a is a physical quantity that describes the rate of change of the finger sliding speed; a = (v2 - v1) / Δt, where v1 and v2 are the speeds at two consecutive time points respectively, and Δt is the time difference.

6. The intelligent synchronous human hand simulation massage system according to claim 1, wherein: The control signal is converted into a control signal for the motor, including: The motor speed gain is defined as the ratio between the motor rotation speed and the finger movement speed. When the user moves the finger through the applet or APP interface, the movement speed of the finger is calculated in real time. According to the preset speed gain coefficient, the speed of the finger is converted into the rotation speed of the motor; If the speed gain coefficient is 2 and the movement speed of the finger is 50 mm / s, the rotation speed of the motor is set to 100 revolutions per minute; The calculation of the speed gain is expressed as: motor rotation speed = finger speed × speed gain coefficient; The motor acceleration gain refers to the relationship between the motor acceleration and the finger movement acceleration. When the user changes the speed of the finger movement, the acceleration of the finger is calculated. According to the preset acceleration gain coefficient, the acceleration of the finger is converted into the acceleration of the motor; If the acceleration gain coefficient is 1.5 and the acceleration of the finger is 2 m / s 2 , then the acceleration setting of the motor is 3 m / s 2 ; The calculation of the acceleration gain is expressed as: motor acceleration = finger acceleration × acceleration gain coefficient.

7. The intelligent synchronous human hand simulation massage system according to claim 1, characterized in that: The adaptive force adjustment module is an integrated sensor of a pressure sensor and a tactile sensor, which is used to capture the feedback of the user on the massage force and speed in real time during use. Its sensor measures the pressure exerted by the user's skin on the massage head or the frequency of the user manually adjusting the position of the massage head, and then uses a data analysis algorithm to analyze the collected feedback data to identify the user's comfort preference. Based on the analyzed user preference, the adaptive force adjustment module automatically adjusts the force and speed of the massage head.

8. The intelligent synchronous human hand simulation massage system according to claim 1, characterized in that: Through the selection of the massage mode, force adjustment, and personalized setting operations on the dedicated applet or APP on the intelligent device, and integrating voice recognition technology, the user is allowed to control the various functions of the massage system through voice commands, such as "start massage", "adjust to medium force", and "turn off massage".

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