Animal massage simulation method and system based on physiological feedback regulation and medium

Abstract

The invention discloses an animal massage simulation method and system based on physiological feedback regulation and a medium. The method comprises the following steps: synchronously acquiring a multi-wavelength reflective PPG, a speckle blood flow SPG, a normal direction, a displacement track and a frequency under the preload contact of a massage contact, and performing time alignment; when the consistency is insufficient, superposition of verification excitation meeting orthogonal non-interference constraint is carried out, challenge-response template matching is carried out, and an upshift certificate is generated according to necessary criteria such as direction consistency, a peak time sequence window and a morphological interval; taking the certificate as an upshift necessary condition, entering a monotonous strategy only allowing intensity reduction when the certificate is invalid, and locking hair separation until consistency is recovered; wavelength self-selection is carried out based on a hair occlusion index and is bound with a threshold value in a tightening manner, and safety waveform library switching and parameter rollback are triggered by combining causal time delay judgment of local perfusion and systematic stress. The reliability, safety and repeatability of massage control in hair shielding, slippage and stress scenes are improved.

Description

Technical Field

[0001] This invention relates to the field of animal care and treatment, and more particularly to an animal massage simulation method, system, and medium based on physiological feedback regulation. Background Technology

[0002] Animal massage (including rehabilitation massage, relaxation therapy, and post-exercise muscle recovery) is increasingly used in companion animal care, racing animal training and rehabilitation, and post-operative functional reconstruction. Compared to human massage, animal massage faces greater individual differences (body size, subcutaneous fat, muscle tension, fur coverage), more pronounced non-cooperative behaviors and stress responses, and more complex safety boundaries (pain thresholds are difficult to express subjectively, local tissue tolerance windows are narrower, and the risks of slippage and scratching are higher). Therefore, the industry typically attempts to reproduce massage movements using mechanized, automated, or semi-automated devices, supplemented by sensing and control strategies to improve consistency and safety.

[0003] In existing technologies, massage / tuijin devices are mainly concentrated in the A61H physical therapy or massage equipment field. Common solutions primarily involve fixed trajectory, fixed frequency, or graded intensity output, or, on this basis, the introduction of pressure / posture / displacement sensors to prompt users to adjust the applied force or posture. For example, impact / vibration massage devices are often equipped with accelerometers, gyroscopes, force gauges, etc., to collect angle, displacement, and applied force magnitude and recommend adjustments to the user, thereby improving operational consistency and user experience. However, such solutions are still largely a closed loop of mechanical side parameters—human-computer interaction side prompts. The control target is usually consistent movement posture or applied force, rather than directly using physiological effects as control quantities (such as improved local perfusion, stable recovery of microcirculation changes, etc.). Related solutions can be seen in the disclosure of impact physiotherapy devices with sensor acquisition and posture / force suggestions as the core. For example, WO2022236162A1 discloses a physiotherapy device and method for acquiring angular position / line position and force magnitude and recommending adjustments accordingly. In addition, there are also publicly disclosed impact massage devices that monitor the applied pressure to avoid overpressure or misuse. For example, US10314762B1 proposes monitoring the pressure applied to the human body by massage accessories to meet the engineering requirement of monitorable pressure. However, the above-mentioned technical approaches mostly focus on measurable mechanical quantities—controllable / indicative movements—and do not solve the most critical difficulties in animal massage: whether the actual physiological responses (perfusion, blood flow, stress) produced by external mechanical stimulation on the animal's body surface achieve the target, whether they are within the safe window, and how to ensure signal reliability under conditions of hair obstruction and slippage.

[0004] On the other hand, photoplethysmography (PPG) monitoring schemes for animals have emerged in the field of animal physiological monitoring, with particular attention paid to the influence of hair / fur on optical coupling. WO2015197385A1 discloses an animal vital sign detection system that uses a PPG sensor and guides light through hair / fur to the skin and back to the photodetector via a light guide structure to improve the usability of animal vital sign detection. It also provides an assembly method that can be placed in locations such as the ears, nose, tail, and neck. This type of scheme is representative in how to acquire animal PPG signals in the presence of hair, but its application focuses on vital sign measurement and output. It usually does not involve using PPG as a necessary feedback quantity for massage control, nor does it discuss how to bind reliability judgment with control access under motion artifacts and signal distortion caused by touch slippage, shear disturbance, and changes in contact pressure during massage, to avoid erroneous escalation or enhancement of stimulation in unreliable states.

[0005] Alongside PPG, blood flow / perfusion monitoring technologies such as laser speckle imaging are also being widely researched and engineered in medical testing and tissue perfusion assessment. For example, US20110013002A1 discloses a system and method for recording tissue speckle images through laser irradiation, calculating contrast / power spectra, and determining tissue perfusion accordingly, emphasizing speckle imaging for measuring tissue perfusion on the body surface. These technologies can provide a more direct characterization of changes in microcirculation or blood flow, but their typical applications are still biased towards detection / assessment (diagnosis or monitoring), and are not deeply coupled with the force-displacement-frequency control of massage actuators. Furthermore, they lack engineering constraints for animal massage scenarios: such as multi-channel synchronous acquisition under preloaded contact of massage probes, cross-modal consistency determination, robust identification of hair occlusion and optical path drift, and a monotonic safety strategy that only allows intensity reduction and locks the recovery action when signals are inconsistent.

[0006] In summary, the existing technology has at least the following shortcomings:

[0007] (1) Misalignment of control objectives: The closed loop of many massage devices only revolves around mechanical side parameters (pressure, position, posture) or user interaction prompts, lacking a closed loop control framework with physiological effects as the objective, making it difficult to ensure that massage can stably improve local perfusion or controllable stress.

[0008] (2) Insufficient signal reliability under animal hair / slippage conditions: Animal hair covering, sweating / sebum, and touch slippage will significantly damage the quality of optical signals; although existing animal PPG schemes focus on guiding light through hair, they do not regard signal reliability as a necessary condition for upgrading massage intensity, and they also lack cross-modal mutual verification mechanisms.

[0009] (3) Lack of blood flow multimodal mutual verification and access certificate mechanism: Although speckle perfusion measurement can provide blood flow related quantities, existing speckle measurement patents are mainly focused on the measurement link and have not solved the coupling method with massage control strategy. In particular, there is a lack of verifiable access logic for challenge-response verification and necessary criterion combination to generate certificates.

[0010] (4) Safety downgrading is easily interpreted as routine gating: Traditional safety strategies are mostly over-limit stop / simple threshold downgrading. When faced with cross-modal inconsistency (e.g., inconsistency between PPG and speckle blood flow signals), misjudgment, oscillatory adjustment or incorrect upgrading is likely to occur, leading to an increase in the number of over-limit events, slip events and stress interruption rates. Existing publications do not provide a systematic solution to write cross-modal consistency as a necessary condition for control and to force monotonous downgrading and lock recovery actions when there is inconsistency.

[0011] Therefore, a technical solution for animal massage simulation is urgently needed: Simultaneously acquire multi-wavelength reflective PPG and speckle blood flow multimodal physiological signals under pre-loaded contact of the massage probe, and align them uniformly with interactive quantities such as normal / shear force, displacement trajectory, and frequency; perform challenge-response verification using cross-modal consistency and inconsistency type discrimination, employing verification stimuli that do not interfere with the main trajectory, and generate an upgrade certificate as a necessary condition for upgrade, satisfying the required criterion combination; when signals are inconsistent, force entry into a monotonic strategy that only allows intensity reduction and lock the hair separation action until consistency is restored, while combining hair occlusion index and wavelength self-selection, as well as stress causal delay determination to achieve safe rollback. Only through this coupling structure can the reliability, repeatability, and safety boundary clarity of massage control be significantly improved in real animal scenarios such as hair occlusion, slippage, and stress. Summary of the Invention

[0012] The technical objective of this invention is to provide an animal massage simulation method, system, and medium based on physiological feedback regulation. By simultaneously acquiring multi-wavelength reflective PPG and speckle blood flow multimodal physiological signals under preloaded and stable contact of the massage probe, and aligning them with normal / shear force, displacement trajectory, and frequency, a cross-modal consistency discrimination and challenge-response verification certificate access mechanism is established. This ensures that the adjustment of massage intensity is based on the premise that the physiological response is reliable and within a safe window. Furthermore, it achieves repeatable, quantifiable, and safely degraded closed-loop control under complex conditions such as hair obstruction, slippage, or stress, thereby improving the safety, reliability, and consistency of animal massage simulation.

[0013] To achieve the objectives of this invention, the following technical solution is adopted:

[0014] An animal massage simulation method based on physiological feedback regulation includes:

[0015] S1: Simultaneously acquire multi-wavelength reflective PPG signals under preload contact of the massage probe. speckled blood flow signal and normal force Shear force Displacement trajectory and clock speed And time alignment;

[0016] S2: Calculate cross-modal consistency within a sliding window Inconsistency And determine the type of inconsistency. ;

[0017] S3: When Below the threshold or When the value exceeds the threshold, verification stimuli are superimposed without altering the main massage trajectory. Two-modal responses are collected and matched with the template. An upgrade certificate is generated according to preset necessary criteria. ;

[0018] S4: with Necessary conditions for upgrading: If effective, the stimulation level will be increased and the waveform updated continuously under the conditions of perfusion recovery and safety constraints; If invalid, enter a monotonic strategy that only allows for intensity reduction and execute the same as... The corresponding recovery actions are taken, and the hair separation is locked until uniformity is restored;

[0019] S5: Execute and continuously update If the certificate remains invalid or exceeds the limit, switch the security waveform library and record the information for parameter rollback.

[0020] As a further improvement, the cross-modal consistency Construct it according to the following formula:

[0021] ;

[0022] in The correlation coefficient between PPG characteristics and speckle blood flow characteristics. It is a two-mode main frequency. For the peak cross-correlation delay, and .

[0023] As a further improvement, the cross-modal inconsistency degree Construct it according to the following formula:

[0024] ;

[0025] in For two-mode amplitude measurement, The nominal amplitude ratio, For morphological distance measurement, This is the nominal delay.

[0026] As a further improvement, the certificate was upgraded. For it to be effective, the following conditions must be met simultaneously: the reinjection direction must be consistent. Peak timing window At least two of the morphological interval constraints must be satisfied, including peak width. , rising slope attenuation slope ; and amplitude ratio window:

[0027] .

[0028] As a further improvement, the verification stimulus With the main massage drive Satisfying the orthogonal non-interference constraint:

[0029] ;

[0030] And verify that the excitation amplitude and duration satisfy .

[0031] As a further improvement, the trajectory during verification satisfies the zero-bias constraint and energy budget constraint of "not changing the main trajectory":

[0032] ;

[0033] as well as

[0034] ;

[0035] Hair Coverage Index And used to trigger hair separation and wavelength self-selection:

[0036] ;

[0037] when When minimized Update multi-wavelength weights :

[0038] .

[0039] As a further improvement, wavelength weight updates and consistency threshold tightening satisfy the binding relationship:

[0040] ;

[0041]

[0042] After cross-modal inconsistency is triggered, the massage intensity satisfies the monotonic constraint and locks hair separation until recovery:

[0043] ;

[0044] And when and The continuous duration is not less than Release the lock in time; and introduce systemic stress indicators. With cross-correlated delay

[0045] ;

[0046] Determining whether to grant upgrade permission or perform a safe rollback, where... and Upgrading is prohibited and the safety waveform library is switched.

[0047] Another objective of this invention is to provide an animal massage simulation system based on physiological feedback regulation. This system is used to implement the method described above and includes a massage execution module, an interactive acquisition module, a physiological acquisition module, a hair separation module, a processor, and a memory. The physiological acquisition module includes a multi-wavelength PPG acquisition unit and a speckle blood flow acquisition unit. The interactive acquisition module is used to acquire… The processor is configured to perform the calculations as described in the method. And generate a certificate Outputs massage waveforms and recovery actions; the memory stores template libraries and parameter version libraries, with the parameter version library used for recording... And rollback when the over-limit frequency increases.

[0048] A third objective of the present invention is to provide a computer device comprising a processor, a graphics processing unit (GPU), and a memory, wherein the memory stores a computer program that, when executed by the processor and the GPU, causes the computer device to perform the method described herein.

[0049] A fourth objective of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer device, causes the computer device to perform the method described thereon.

[0050] This invention uses multi-wavelength reflective PPG and speckle blood flow signals as synchronously acquired dual physiological modalities, and explicitly sets their cross-modal consistency as a necessary condition for adjusting and escalating massage intensity. This transforms massage control from traditional experience-based regulation based on mechanical parameters or single physiological signals to certificate-based access control based on the reliability of real physiological effects. It significantly reduces the risk of misjudgment and overstimulation in complex scenarios such as hair occlusion, touchpoint slippage, ambient light drift, and non-cooperative animal behavior. By introducing challenge-response verification and applying orthogonal non-interference constraints, the authenticity of physiological responses can be verified without altering the main massage trajectory and energy distribution, thus mechanistically distinguishing between genuine perfusion improvement and pseudo-perfusion improvement. The response or noise amplification; at the same time, the hair occlusion index and wavelength self-selection and threshold binding tightening strategy transform the optical signal quality control from empirical processing to verifiable and quantifiable control rules, significantly improving the signal stability of areas with high hair coverage; further, by combining the monotonically decreasing intensity and recovery action locking mechanism, as well as the causal delay determination between local perfusion changes and systemic stress, the early identification and safe rollback of potential risk states can be achieved, thereby effectively reducing the rate of over-limit events, slippage events and session interruption during the massage process, improving the perfusion recovery target achievement rate and the repeatability of the control process, and obtaining clearer and more verifiable safety boundaries and more stable and consistent animal massage simulation effects. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the structure of the animal massage simulation system based on physiological feedback regulation according to the present invention;

[0052] Figure 2 This is a schematic diagram of the contact assembly structure of the present invention;

[0053] Figure 3 This is the overall flow of the method of the present invention;

[0054] Figure 4 This is the logic diagram for certificate generation and access control of this invention.

[0055] Figure 5 This is a schematic diagram of the state machine and synchronization timing of the present invention;

[0056] Figure 6 This is a timing diagram for synchronous data acquisition in this invention. Detailed Implementation

[0057] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present invention.

[0058] I. Terminology and Symbol Conventions

[0059] 1. Massage probe / probe assembly: refers to the end effector that directly contacts the animal's body surface and outputs mechanical stimulation such as pushing, pressing, and kneading. It usually includes a probe shell, replaceable contact pads, built-in optical acquisition window, force sensor coupling structure, and displacement / attitude measurement structure.

[0060] 2. Preload contact: refers to the state in which the contact establishes stable contact with the body surface and reaches the minimum reliable optical and mechanical coupling condition. In this invention, preload contact can be achieved by a normal force reaching a threshold. and maintain at least The duration of the judgment can also be determined by combining criteria such as displacement rebound characteristics and contact area stability.

[0061] 3. PPG signal: refers to the reflective multi-wavelength optical volumetric recording signal, represented as... ,in For wavelength channels (such as green light / red light / near infrared, etc.). For time. PPG can be decomposed into a DC component. With the quantity of communication their ratio It is often used to reflect changes related to perfusion.

[0062] 4. Speckle Flow Signal (SPG): Refers to the blood flow-related signal obtained based on coherent optical speckle dynamics, represented as... In this invention, SPG is used to form cross-modal verification with PPG to improve robustness to interferences such as hair occlusion, light drift, and contact fluctuations.

[0063] 5. Interaction quantity: including normal force Shear force Contact displacement trajectory and massage frequency These terms are used to describe the closed-loop control relationship between stimulus input and tissue response.

[0064] 6. Cross-modal consistency index It is used to measure the degree of consistency between PPG and SPG within the same window, such as correlation, frequency consistency, and latency consistency. A higher value indicates greater consistency between the two modes and higher reliability.

[0065] 7. Cross-modal inconsistency It is used to measure the overall inconsistency between two modes in terms of amplitude ratio, morphological distance, and time delay deviation. The larger the value, the more significant the inconsistency.

[0066] 8. Inconsistency type label : Used to characterize the main causal categories of inconsistencies, such as hair occlusion type, ambient light drift type, contact slip / instability type, tissue state mutation type, etc., different Corresponding to different sets of recovery actions.

[0067] 9. Challenge-Response Validation Incentive With the main massage drive : This is the main control input for performing massage. The constrained perturbation superimposed during the verification phase is used to actively verify the consistency of the two-modal responses.

[0068] 10. Upgrade Certificate This refers to the access credentials generated through challenge-response verification. This invention will... Designed as a necessary condition for increasing massage intensity, only when Only if it is effective will the system allow the stimulation level to be increased.

[0069] 11. Hair Coverage Index Used to quantify the impact of hair occlusion / optical path occlusion on PPG quality, taking into account all factors. Attenuation rate, phase consistency and Factors such as changes.

[0070] 12. Wavelength weight vector Weighting parameters used for multi-wavelength channel fusion and self-selection. ,in The number of wavelength channels satisfies and .

[0071] 13. Monotonic descent intensity strategy: When cross-modal inconsistency is triggered, the intensity scalar... satisfy This means that only downshifting is allowed, not upshifting, to avoid accidental upshifting and causing excessive stimulation.

[0072] 14. Systemic stress indicators With causal delay : Stress measures that can be constructed from heart rate variability, respiratory rate, activity level, etc. The results are obtained from cross-correlation estimation and are used to determine the sequential relationship between stress changes and local perfusion changes in order to decide whether to allow for an upgrade or a safe rollback.

[0073] II. System Structure (with attached diagram)

[0074] See Figure 1The animal massage simulation system based on physiological feedback regulation provided by this invention includes: a massage execution module, an interactive acquisition module, a physiological acquisition module, a hair separation module, a data processing and control module (including a processor and a memory), a safety management module, and a human-computer interaction module. The modules are connected via a bus or network, specifically a high-speed bus connection within the same edge computing unit to reduce latency and ensure synchronization accuracy.

[0075] 1. Massage Execution Module: Includes linear motor / servo motor, reduction and guide mechanism, and end contact assembly (see...) Figure 2 ), used to output the trajectory of massage movements With control input The execution module can provide controlled displacement or force output in the normal and tangential directions, satisfying the combined control of actions such as pushing, pressing, kneading, and plucking.

[0076] 2. Interactive Acquisition Module: Includes a six-dimensional force / torque sensor or a distributed force sensing array for real-time acquisition of normal force. With shear force It also includes an encoder / IMU for acquiring displacement trajectories. Posture and Massage Main Frequency The interactive data acquisition module and the massage execution module are synchronized in time to ensure consistent input and output in closed-loop control.

[0077] 3. Physiological Acquisition Module: This module includes a multi-wavelength reflective PPG acquisition unit and a speckle flow acquisition unit. The PPG acquisition unit may include multi-color LEDs (e.g., green / red / near-infrared) and photodiodes, and has modulation / demodulation circuitry to suppress ambient light; the speckle flow acquisition unit may include a coherent light source and a speckle imaging / detector, and outputs blood flow-related signals. The two units are integrated with the contact assembly to ensure synchronous sampling of the same tissue area.

[0078] 4. Hair Separation Module: Used to improve the contact interface when hair obstructs the light path or the light path is unstable. The hair separation module can employ a micro-negative pressure ring, directional micro-airflow, comb-type scraping structure, or a combination thereof. The hair separation module is locked / released by the control module according to a strategy and can be linked with the contact pad of the contact head to avoid causing additional discomfort to the animal.

[0079] 5. Data Processing and Control Module: Includes a processor and memory. The processor performs cross-modal consistency computation, challenge-response verification, and certificate processing. Generate and update functions, optimize massage waveform scrolling, select recovery actions, manage parameter versions, etc.; the memory stores a template library (indexed by species / weight / location) and a parameter version library (…). (etc.) and session log data.

[0080] 6. Safety Management Module: Used to switch between hard constraints and the safety waveform library. When situations such as persistent invalid certificates, out-of-limit events, or abnormal stress precedence are detected, the safety management module forcibly switches to the physiological safety waveform library and executes downgrade or shutdown commands to ensure animal safety.

[0081] 7. Human-Computer Interaction Module: Used to select parameters such as animal species, massage area, target stimulus level, and session duration, and displays real-time consistency. Inconsistency Certificate status Indicators such as the number of times the limit is exceeded are generated, and a session report is produced to facilitate traceability by clinical / rehabilitation staff.

[0082] See Figure 2 The contact assembly may include: a transparent optical window, a replaceable soft contact pad, an annular micro-negative pressure chamber / airflow nozzle, a PPG transmitter / receiver device, an SPG coherent light emission and reception structure, a force-sensing coupling structure, etc. The outer edge of the contact may be ergonomically edged to reduce the risk of edge pressure pain; the optical window may be coated with an anti-fog coating to reduce the impact of sweat / sebum.

[0083] III. Overall Technical Route for Implementing the Method of the Invention (with reference to the accompanying drawings)

[0084] See Figure 3 The overall process of the method of this invention includes S1–S5. The system first synchronously acquires PPG, SPG, and interaction quantities in a pre-loaded contact state; then, it calculates consistency within a sliding window. Inconsistency And determine If consistency is insufficient or inconsistency exceeds the limit, the process proceeds to challenge-response verification, with additional verification incentives applied. And generate an upgrade certificate by matching with the template library. Control strategy As a necessary condition for upgrading, when the certificate is invalid, it enters a monotonically decreasing intensity and locks hair separation until it is restored; at the same time, the safety management module performs a safety waveform library switch and parameter rollback for persistent invalid or excessive events, forming an integrated protocol chain of verifiable access - reliable closed loop - safe rollback.

[0085] This invention elevates cross-modal consistency from an optional verification to a mandatory control condition; and uses challenge-response verification and certification. Achieve structured access; ensure verification does not disrupt the main massage trajectory using orthogonal non-interference constraints; use hair occlusion index. Wavelength self-selection / threshold binding achieves anti-blocking and anti-drift; monotonic strategies and locked recovery actions prevent false upsizing in inconsistent states; and stress-induced causal delay is used. By prioritizing safety constraints, the stability and safety boundary clarity of animal massage simulations are significantly improved.

[0086] IV. Specific implementation methods of steps S1-S5 (e.g.) Figures 3-6 (As shown)

[0087] S1: Synchronous Acquisition and Time Alignment under Preload Contact

[0088] In this embodiment, the system enters a contact preparation state before the massage probe approaches the animal's body surface. Once the probe contacts the body surface, the massage execution module applies a preload action, applying normal force... The system rises and stabilizes within the preload range to establish stable optical coupling and mechanical contact. Preload contact can be determined using one or a combination of the following methods:

[0089] Force threshold and holding time determination: when And in continuous duration Internal satisfaction The preload contact was determined to have been successfully established. This is the average value over that period. This is the allowable fluctuation range.

[0090] Contact area stability determination: If a contact area sensing array is configured below the contact pad, the contact area can be required. exist The internal rate of change is kept below the threshold to avoid optical path instability caused by edge lifting.

[0091] Displacement rebound determination: for a given preload displacement If the rebound curve is stable and there is no sudden jump, the tissue contact can be determined to be stable.

[0092] In the preloaded contact state, the physiological acquisition module and the interactive acquisition module begin synchronous sampling. To achieve synchronous acquisition, this invention uses a unified clock source to timestamp all sampling channels: the processor outputs a synchronization trigger signal or provides a unified sampling clock to the PPG acquisition unit, SPG acquisition unit, force sensor, and encoder through a hardware clock distribution module. The sampling frequencies of each channel can be different (e.g., PPG 200–500Hz, SPG 100–300Hz, force and displacement 500–2000Hz), but resampling and alignment are required within the control module to map them to a unified time axis. .

[0093] PPG acquisition method limitations: PPG uses a reflective structure, with multi-wavelength LEDs driven in a time-division or code-division manner, and each wavelength channel is extracted through synchronous demodulation. To suppress ambient light interference, the following strategies can be adopted:

[0094] (1) Use a modulation frequency for each wavelength channel The photoelectric receiver performs phase-locked amplification / synchronous demodulation to obtain the AC component of the corresponding channel;

[0095] (2) Collect and estimate the background light baseline, and obtain the net reflection signal by using the light-on-light-off differential method;

[0096] (3) Perform PPG output analysis break down: For low-pass components, This is the bandpass component, used for subsequent occlusion indices. structure.

[0097] SPG acquisition method limitations: SPG uses coherent light to illuminate the tissue surface to form a speckle pattern. The detector acquires the speckle intensity sequence and obtains the blood flow-related signal through relative contrast or autocorrelation processing. To reduce motion artifacts, the speckle acquisition window can be aligned with the massage cycle, or short-term statistics on speckle features can be performed in the control module.

[0098] Interactive data acquisition: The interactive data acquisition module outputs the normal force. With shear force The encoder / IMU outputs the displacement trajectory. With massage frequency (This can be estimated from the trajectory period or given directly from the control command). If the system control variable is displacement control, then... This is equivalent to a target displacement / velocity command; if it is force control, then... It can be equivalent to the target normal force / impedance parameters, etc.

[0099] After acquisition, the control module aligns the sequences of each channel and performs basic preprocessing: removing DC drift, suppressing power frequency and high-frequency noise, and performing necessary anti-aliasing filtering. At this point, the S1 output is: on the synchronous time axis... , , , , , The results of its preprocessing provide input for subsequent S2–S4.

[0100] S2: Sliding window calculation and And determine the type of inconsistency.

[0101] In this embodiment, the control module processes data using a sliding window: the window length is... Step size is For each window First, select the fused PPG feature sequence from the multi-wavelength PPG. Its fusion method can be weighted sum Weight Initially provided by a template library (related to animal species / parts), it can be updated by S4. SPG window characteristics are... Or its standardized results.

[0102] Consistency Indicators Calculation

[0103] The present invention constructs a consistency index in the following form. :

[0104] ;

[0105] The parameters are defined as follows: : Inside the window and The normalized correlation coefficient; : PPG dominant frequency within the window (can be estimated from spectral peaks or autocorrelation period); SPG main frequency within the window; : Time delay estimation corresponding to the peak cross-correlation; : Maximum allowable frequency difference; The maximum allowed latency; Weighting coefficients, satisfying .

[0106] In implementation, The correlation coefficient after removing the mean can be used for calculation. It can be obtained through short-time Fourier or autocorrelation peaks. It is obtained from the position of the maximum cross-correlation value. A larger value indicates greater cross-modal consistency, allowing for more aggressive massage control. The smaller the value, the less credible it is, and the verification or recovery process needs to be initiated.

[0107] Inconsistency Calculation

[0108] To avoid relying solely on To address the misjudgment, this invention further calculates the inconsistency degree. :

[0109] ;

[0110] The parameters are defined as follows: PPG amplitude measurement (e.g.) (Root mean square or peak-to-peak value). SPG amplitude measurement; : Nominal amplitude ratio (given by template library or initial calibration); Morphological distance metrics can be dynamic time warping (DTW) distance or eigenvector distance. Nominal latency; Weighting coefficient.

[0111] Should This enables the system to identify potential risks such as decent correlation but significant amplitude drift, and reduces false consistency due to hair occlusion or optical path drift.

[0112] Inconsistent types Discrimination

[0113] In obtaining and Then, the control module handles the inconsistency type. A judgment is made so that S4 can select a targeted recovery action. In the embodiment, It may include at least the following categories:

[0114] Hair-covering type: When the hair coverage index And PPG's Attenuation and If the abnormal changes are obvious and the SPG is relatively stable, it is determined to be the hair occlusion type.

[0115] Ambient light drift type: When similar wavelength channels of PPG appear... The noise in the residual frequency band increases after demodulation due to drift, and there is no corresponding change in SPG, which can be identified as ambient light / optical path drift type.

[0116] Contact slip / instability type: when shear ratio If the threshold is exceeded and persists, and phase jitter is observed in the PPG / SPG morphology, it can be identified as a slip-type PPG.

[0117] Tissue state mutation type: When both PPG and SPG show synchronous morphological mutations that do not match the massage cycle, it may indicate that the animal is suddenly stressed / muscles contracted, etc., requiring a more conservative strategy.

[0118] S2's output includes: the current window's... , , And the suggested criteria for whether to proceed with the verification (such as...) or ).

[0119] S3: Challenge - Response Verification and Upgrade Certificate generate

[0120] The purpose of S3 is to proactively probe the true response of the organization and sensor links through controlled verification stimuli when cross-modal consistency is insufficient, rather than simply downgrading or stopping, and generating a verifiable upgrade certificate. This allows for the restoration of control credibility while ensuring safety.

[0121] 1) Triggering conditions and verification window

[0122] When satisfied or At this time, the system enters the verification state. The verification window length is [length missing]. The starting point for verification is Within the verification window, the massage execution module continues to execute along the main massage trajectory, but verification stimuli are superimposed. .

[0123] 2) Construction of orthogonal non-interference constraints and verification stimuli

[0124] This invention requires verification that the excitation and the main massage drive satisfy the orthogonal non-interference constraint:

[0125] ;

[0126] in: Main massage driver (can be displacement / speed / force command); To verify the incentive; To verify the start time; To verify the window length.

[0127] This constraint ensures that the verification stimulus does not significantly alter the primary effect of the massage in the energy and frequency domains, preventing it from being interpreted as simply adding random actions for testing. In implementation, this can be achieved by... Designed to be Small-amplitude sinusoidal / pseudo-random sequences in different frequency bands, and elimination of their differences through projection. The relevant components satisfy the constraint that the integral is 0.

[0128] Meanwhile, the verification stimulus is constrained by upper limits on amplitude and duration: , And can further meet energy budget requirements:

[0129] ;

[0130] in To verify the upper limit of excitation energy.

[0131] If the system primarily uses trajectory control, the trajectory during the verification period can be represented as follows:

[0132] ;

[0133] in: Main trajectory, For perturbation displacement, The actual trajectory during the verification period. This zero-offset constraint ensures that the verification does not introduce cumulative displacement offset, further maintaining the main trajectory unchanged.

[0134] Response collection and template matching

[0135] Within the verification window, the system collects response segment signals from PPG and SPG to obtain response characteristics: net change in the reinjection segment. , Peak time , Morphological characteristics such as peak width , rising slope attenuation slope And calculate the response amplitude metric. and .

[0136] The template library pre-stores various types of trusted response templates. The templates are indexed by animal species, weight range, and massage area, and a threshold set is configured for each type of template. , (e.g., various morphological intervals). The system matches the current response with the template; the matching method can be morphological distance. Determined in conjunction with key feature thresholds.

[0137] Certificate Necessary criteria

[0138] This invention specifies the upgrade certificate Multiple necessary criteria must be met simultaneously, for example:

[0139] The reinjection direction is consistent: Peak timing window: ; morphological range: At least two values ​​fall within the preset range; amplitude ratio window:

[0140] ;

[0141] in: The nominal amplitude ratio, To allow deviations from the upper limit.

[0142] When all of the above criteria are met, the system generates a valid certificate. (Or record the certificate's valid timestamp and validity period); otherwise, generate an invalid certificate. It also outputs the reason for invalidity (e.g., hair obstruction not removed, slippage not relieved, abnormal stress, etc.).

[0143] S3 output: Certificate Status Verify the matching results and suggest recovery action priorities, and pass them to S4 as the basis for upgrade admission and recovery decisions.

[0144] S4: With Certificate Scrolling control, recovery action, and locking strategy as required

[0145] The key points of S4 are: to change upshifting from a controller degree of freedom to a controlled behavior with certificate access; and to use monotonically decreasing intensity and locking hair separation when there is inconsistency until cross-modal consistency is restored.

[0146] 1) Certificate Admission and Stimulus Level Update

[0147] System maintains stimulus level or intensity scalar sequence (Can correspond to peak massage force, displacement amplitude, or energy level). When efficient( When this occurs, the system allows for an increase in stimulation level while meeting perfusion recovery and safety constraints. The perfusion recovery constraint can be described as: during the reperfusion phase of each massage cycle, Alternatively, SPG-related indicators must return to a safe range within a specified time; otherwise, upgrading is not permitted. Safety constraints also include maximum normal force, maximum shear ratio, and maximum rate of ascent.

[0148] when invalid( When this occurs, the present invention forces the adoption of a monotonically decreasing intensity strategy, for example, satisfying the following for discrete updates:

[0149] ;

[0150] In other words, in inconsistent states, only downshifting is allowed, not upshifting, to avoid accidental upshifting that could cause pain or stress.

[0151] 2) Restore motion mapping and hair separation lock

[0152] when When invalid, the system determines the inconsistency type based on the output of S2. Select the set of recovery actions. A typical mapping is as follows:

[0153] Hair-covering type : Triggers the hair separation module to open (micro negative pressure / airflow / comb teeth), and adjusts the contact head posture and contact pad compression to improve optical window fit; simultaneously performs wavelength self-selection.

[0154] Ambient light drift type Increase modulation and demodulation intensity, adjust LED driver duty cycle, reassess background light baseline, and shorten window length if necessary to speed up recovery.

[0155] Sliding type Reduce trajectory curvature and tangential velocity, reduce normal force rise rate, increase recharge interval, and through shear ratio Constraints restrict tangential output.

[0156] Stress / tissue mutant Directly reduce the intensity level and switch to a gentler waveform library, pausing if necessary and prompting the operator to calm them down.

[0157] This invention stipulates that after inconsistency is triggered, the hair separation action must be locked until consistency is restored. The lock release condition can be continuously satisfied. and The duration is not less than That is: lock flag. And keep; when and Continuous Unlock at time .

[0158] This strategy ensures that the system will not frequently switch on and off due to misjudgments caused by short-term fluctuations during the recovery period, thus improving stability and repeatability.

[0159] 3) Hair Coverage Index With wavelength self-selection and threshold binding

[0160] To further improve the reliability of animal hair coverage areas, this invention constructs a hair occlusion index. :

[0161] ;

[0162] in: : PPG DC component; PPG AC component; Multi-wavelength channel phase consistency index; Weights : Blocking threshold.

[0163] when After determining it to be a hair-occlusion type, the system assigns wavelength weights. Perform self-selective updates to minimize inconsistency. To achieve the goal, satisfy:

[0164] ;

[0165] in This represents the number of wavelength channels.

[0166] Furthermore, this invention stipulates that wavelength weight updates and consistency threshold tightening are linked:

[0167] ;

[0168] in: , These are the consistency thresholds before and after the update; , These are the weights before and after the update, respectively. for Norm; This is the tightening coefficient.

[0169] This binding relationship makes the system more strictly require consistency when it relies more on certain wavelength channels, thereby reducing the risk of false upsizing caused by pseudo-consistency.

[0170] 4) Determining the causal sequence of stress and safe rollback

[0171] To avoid the risk pattern of apparent improvement in local perfusion but increased systemic stress, this invention introduces a systemic stress index. And estimate causal delay through cross-correlation. :

[0172] ;

[0173] in For cross-correlation function, It can be a sequence of net changes in the recharge section or its windowed sequence. If determined... and This indicates that the stress change precedes the perfusion improvement (or the perfusion improvement lags behind the stress abnormality). The system prohibits escalation and triggers a safety rollback: switching to the physiological safety waveform library, reducing the intensity level, recording the event, and prompting the operator.

[0174] Through the aforementioned certificate access, monotonic strategy, lock-in recovery, wavelength self-selection, and causal constraint, S4 achieves stable operation of massage closed-loop control under complex interference.

[0175] S5: Execution, logging, over-limit handling, and parameter version rollback

[0176] S5 is used to execute the massage waveform commands generated by S4, and to manage safety events and model parameters to ensure the stability and traceability of the system's long-term operation.

[0177] 1) Execution and Real-time Updates

[0178] The massage execution module outputs actions according to waveform instructions, including the target trajectory. Target strength With rhythm The interactive data collection module continues to provide feedback. , Used to monitor for excessive force / shear; the physiological acquisition module continuously outputs data. and For real-time computing , and and update certificate status The system updates the strategy in a scrolling manner, window by window, to ensure the real-time performance of the control loop.

[0179] 2) Definition and handling of out-of-limit events

[0180] The system defines multiple types of out-of-limit events, such as: normal force out-of-limit: Shear ratio exceeds limit: Continue to exceed The rate of increase exceeds the limit: Threshold exceeded; certificate invalidity persists: Continuous and lasting for more than ; Causal anomaly: and .

[0181] When any over-limit event is triggered, the safety management module can immediately perform a degradation: reduce intensity, extend the backfeedback interval, suspend massage, or switch to the safe waveform library. If the over-limit frequency exceeds the threshold within the session... The system can enter a forced shutdown mode or a mode requiring manual confirmation.

[0182] 3) Template library and parameter version rollback

[0183] To accommodate differences between different animals and body parts, this invention maintains a template library and a parameter version library in the memory. The template library is indexed by species, weight range, body part, and manipulation type, and includes... , morphological range Initial values, etc. The parameter version control system records key parameters: And record the reason and effect of each update.

[0184] When S5 detects an increase in the frequency of exceeding limits or a significant decrease in certificate validity, it can trigger parameter rollback: restoring the parameters to a historical stable version and observing them in subsequent windows. and Whether to restore. This mechanism ensures that the system maintains basic safety and availability even when parameter drift is caused by environmental changes or individual differences.

[0185] 4) Session logs and traceable output

[0186] The system records a complete session log: for each window. , , , , , , Exceedance events and handling actions. A report is output after the session, including indicators such as certificate effectiveness rate, number of exceedances, perfusion recovery target achievement rate, and number of slip events, facilitating clinical evaluation and model iteration.

[0187] Thus, S5 completes the closed-loop guarantee of execution, monitoring, security, rollback, and recording, enabling the method of this invention to have engineering feasibility and long-term stability.

[0188] V. Application Examples

[0189] Application Example 1: Back and Lumbar Muscle Massage for Companion Dogs—A Reliable Closed Loop and Certification Admission Effect in Scenarios Where Hair Covers the Entire Body

[0190] 1.1 Scene and Object

[0191] Twelve medium-sized companion dogs (weighing 12–18 kg) were selected, with the back and waist (L2–L6 lateral muscle groups) as the massage area. The hair length was 25–45 mm. The environment was indoors with natural light and overhead lighting. Each dog received a 10-minute massage session, with the goal of relieving muscle tension and improving local perfusion.

[0192] 1.2 Equipment and Parameters

[0193] use Figure 1 The system shown includes: a multi-wavelength reflective PPG (green / red / NIR three-channel, sampling at 200Hz), an SPG sampling at 150Hz, a six-dimensional force sensor sampling at 1kHz, and a sliding window. s, step size s. Preload contact: N、 s. Verification window s, verify the upper limit of the excitation amplitude Based on an equivalent setting of 0.2mm perturbation for contact displacement, energy budget Set according to the equipment calibration values.

[0194] Certificate The criteria use a combination of four factors (direction consistency, peak timing, morphological interval, and amplitude ratio window). If inconsistency is triggered, the intensity of the monotonic reduction is executed and the hair separation is locked until recovery.

[0195] Scale settings

[0196] Example 1 (Invention): Cross-modal consistency of PPG and SPG is a necessary condition; inconsistency triggers challenge-response verification to generate a certificate. Orthogonal non-interference constraint; occlusion index Wavelength self-selection and threshold binding; monotonically reducing intensity and locking hair separation.

[0197] Comparative Example 1: Only PPG closed-loop threshold control (SPG not adopted, no cross-modal consistency / certificate access), the rest of the mechanical trajectories are the same.

[0198] Comparative Example 2: PPG and SPG dual acquisition, but consistency is only optional and does not trigger challenge-response certificate access; bidirectional adjustment is allowed when there is inconsistency (no monotonic constraint, no hair separation lock).

[0199] Indicator Definition and Statistical Scope

[0200] Certificate validity: in verification events Valid count / Number of verification events.

[0201] Number of times exceeding limits: This includes the total number of events per session, such as normal force exceeding limits, shear ratio exceeding limits, continuous exceeding limits due to invalid certificates, and security handover triggered by causal anomalies.

[0202] Perfusion recovery time compliance rate: After each intensity adjustment, the percentage of PPG within the specified threshold. Time required for SPG response to return to safe range The proportion of s.

[0203] Number of slip events: shear ratio Continuously exceeding the threshold and continuing s counts once.

[0204] 1.5 Results Data (Table 1)

[0205] Table 1 Performance comparison in scenarios where companion dog back and waist hair obscures the view (n=12, session 10min)

[0206]

[0207] 1.6 Analytical Conclusions

[0208] As shown in Table 1, compared to Comparative Example 1, this invention introduces cross-modal consistency of PPG and SPG and uses certificates... As a necessary condition for upgrading, it significantly reduces the over-limit events caused by PPG misjudgment due to hair occlusion and improves the perfusion recovery compliance rate. Compared with Comparative Example 2, this invention strengthens consistency from optional verification to a necessary control condition, and forces monotonic intensity reduction and locks hair separation when inconsistent, avoiding erroneous upgrading and frequent repeated adjustments under inconsistent conditions, making the certificate more effective, reducing the number of over-limit events and slippage events, and making the closed-loop operation more stable.

[0209] The foregoing description of embodiments of the present invention, through which those skilled in the art are able to implement or use the present invention, will be readily apparent to those skilled in the art. Various modifications to these embodiments will be readily apparent to those skilled in the art. The general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novelty disclosed herein.

Claims

1. An animal massage simulation method based on physiological feedback regulation, characterized in that, include: S1: Simultaneously acquire multi-wavelength reflective PPG signals under preload contact of the massage probe. speckled blood flow signal and normal force Shear force Displacement trajectory and clock speed And time alignment; S2: Calculate cross-modal consistency within a sliding window Inconsistency And determine the type of inconsistency. ; S3: When Below the threshold or When the value exceeds the threshold, verification stimuli are superimposed without altering the main massage trajectory. Two-modal responses are collected and matched with the template. An upgrade certificate is generated according to preset necessary criteria. ; S4: with Necessary conditions for upgrading: If effective, the stimulation level will be increased and the waveform updated continuously under the conditions of perfusion recovery and safety constraints; If invalid, enter a monotonic strategy that only allows for intensity reduction and execute the same as... The corresponding recovery actions are taken, and the hair separation is locked until uniformity is restored; S5: Execute and continuously update If the certificate remains invalid or exceeds the limit, switch the security waveform library and record the information for parameter rollback.

2. The method according to claim 1, characterized in that, Cross-modal consistency Construct it according to the following formula: ; in The correlation coefficient between PPG characteristics and speckle blood flow characteristics. It is a two-mode main frequency. For the peak cross-correlation delay, and .

3. The method according to claim 1, characterized in that, The cross-modal inconsistency Construct it according to the following formula: ; in For two-mode amplitude measurement, The nominal amplitude ratio, For morphological distance measurement, This is the nominal delay.

4. The method according to claim 1, characterized in that, Upgrade Certificate For it to be effective, the following conditions must be met simultaneously: the reinjection direction must be consistent. Peak timing window ; At least two of the morphological interval constraints must be satisfied, including peak width. , rising slope attenuation slope ; and amplitude ratio window: ； in: The nominal amplitude ratio, To allow deviations from the upper limit.

5. The method according to claim 1, characterized in that, The verification incentive With the main massage drive Satisfying the orthogonal non-interference constraint: ； in: Driven by the main massage technique; To verify the incentive; To verify the start time; To verify the window length; And verify that the excitation amplitude and duration satisfy .

6. The method according to claim 1, characterized in that, During the verification period, the trajectory satisfies the zero-bias constraint and energy budget constraint of "not changing the main trajectory": ； in: Main trajectory, For perturbation displacement, To verify the actual trajectory during the period; and ； Hair Coverage Index And used to trigger hair separation and wavelength self-selection: ； in: The DC component of PPG; For PPG AC components; A multi-wavelength channel phase consistency index; As weight, To block the threshold; when When minimized Update multi-wavelength weights : ； in This represents the number of wavelength channels.

7. The method according to claim 6, characterized in that, Wavelength weight updates and consistency threshold tightening satisfy the binding relationship: ； in: , These are the consistency thresholds before and after the update; , These are the weights before and after the update, respectively. for Norm; This is the tightening factor; After cross-modal inconsistency is triggered, the massage intensity satisfies the monotonic constraint and locks hair separation until recovery: ； And when and The continuous duration is not less than Release the lock in time; and introduce systemic stress indicators. With cross-correlation delay ； in For cross-correlation function, It can be a sequence of net changes in the recharge section or its windowed sequence; where when and Upgrading is prohibited and the safety waveform library is switched.

8. An animal massage simulation system based on physiological feedback regulation, the system being used to implement the method described in any one of claims 1-7, characterized in that, It includes a massage execution module, an interactive acquisition module, a physiological acquisition module, a hair separation module, a processor, and a memory; the physiological acquisition module includes a multi-wavelength PPG acquisition unit and a speckle blood flow acquisition unit, and the interactive acquisition module is used for acquisition. The processor is configured to perform the calculations as described in the method. And generate a certificate Outputs massage waveforms and recovery actions; the memory stores template libraries and parameter version libraries, with the parameter version library used for recording... And rollback when the over-limit frequency increases.

9. A computer device, characterized in that, The computer device includes a processor, a graphics processing unit (GPU), and a memory, wherein the memory stores a computer program that, when executed by the processor and the GPU, causes the computer device to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, the computer program, when executed by a computer device, causing the computer device to perform the method as described in any one of claims 1 to 7.

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