Bionic intelligent massage chair

Abstract

The utility model relates to the technical field of fitness equipment, in particular to a bionic intelligent massage chair which comprises an adjustable seat, a multi-shaft mechanical arm, a bionic robot arm and a controller, the adjustable seat comprises a chair frame, a multi-section adjustable cushion and a driving motor, the multi-section adjustable cushion and the driving motor are installed on the chair frame, and the multi-shaft mechanical arm is installed on the multi-section adjustable cushion. The relative angles of the multiple sections of adjustable pads are adjusted through a driving motor, then a straight chair, a deck chair or a flat bed form is formed, multi-shaft mechanical arm connecting bases are designed on the left side and the right side of the middle of the chair frame, multi-shaft mechanical arms are connected to the left side and the right side of the middle of the chair frame through the multi-shaft mechanical arm connecting bases, and each multi-shaft mechanical arm is connected with a bionic robot hand; the multi-axis mechanical arm and the bionic manipulator are electrically connected with the controller; compared with the prior art, the massage chair has the advantages that the problems of poor massage flexibility, small massage range, low comfort and the like in the existing massage chair technology can be solved, and personalized and diversified massage requirements of users with different heights and different figures can be met.

Description

[Technical Field]

[0001] This utility model relates to the field of fitness equipment technology, specifically a biomimetic intelligent massage chair. [Background Technology]

[0002] Traditional massage chairs simulate human hand massage through the mechanical movement of two or more massage balls on the massage mechanism.

[0003] However, the massage effect of this mechanism has the following main shortcomings:

[0004] 1. Traditional massage balls have a fixed massage range and trajectory, leaving many parts of the body unable to receive effective massage and relaxation.

[0005] 2. Traditional massage balls lack an effective real-time sensor feedback system during massage, resulting in stiff and monotonous movements that cannot match the dexterity of human hands. They cannot provide consistent and effective feedback like human hand massage, nor can they adjust the massage angle, depth, and intensity in real time according to the body's curves and muscle condition.

[0006] 3. Traditional massage balls have a single shape and cannot support more flexible massage techniques. They are prone to applying the wrong massage techniques or the wrong pressure to certain parts of the body, resulting in inadequate massage or discomfort such as soreness.

[0007] 4. Due to the requirement of a guide rail structure for traditional massage mechanisms, the massage chairs on the market only offer sitting and supine positions, and cannot be used in a more convenient prone position. Massage is often limited to the back, with pressure applied from the back upwards, and cannot reach the front of the body. The hands, feet, and head are massaged only through simple movements such as squeezing with airbags and mechanical structures, and cannot achieve the fine and diverse massage of the limbs and head that a real person can provide. [Utility Model Content]

[0008] The purpose of this invention is to address the aforementioned shortcomings by providing a bionic intelligent massage chair that can solve the problems of poor massage flexibility, small massage range, and low comfort in existing massage chair technology, and can meet the massage needs of users of different heights and body shapes.

[0009] To achieve the above objectives, a bionic intelligent massage chair is designed, comprising an adjustable seat 1, a multi-axis robotic arm 2, a bionic robotic hand 3, and a controller 4. The adjustable seat 1 includes a chair frame 101, multi-segment adjustable cushions, and a drive motor. The multi-segment adjustable cushions and the drive motor are mounted on the chair frame 101. The multi-segment adjustable cushions are adjusted at relative angles by the drive motor to form a straight chair, a reclining chair, or a flat bed. The chair frame 101 has multi-axis robotic arm connecting seats 109 on both the left and right sides of the middle section, and multi-axis robotic arms 2 are connected through the multi-axis robotic arm connecting seats 109. Each multi-axis robotic arm 2 is connected to a bionic robotic hand 3. The multi-axis robotic arms 2 and the bionic robotic hand 3 are electrically connected to the controller 4.

[0010] Furthermore, the multi-segment adjustable cushion of the adjustable seat 1 includes a seat cushion 102, a backrest assembly 103, a thigh assembly 104, and a calf assembly 105. The seat cushion 102 is fixed to the middle of the chair frame 101. One side of the seat cushion 102 is rotatably connected to the backrest assembly 103, the other side of the seat cushion 102 is rotatably connected to the thigh assembly 104, and the other side of the thigh assembly 104 is rotatably connected to the calf assembly 105.

[0011] Furthermore, the drive motor of the adjustable seat 1 includes a backrest push rod motor 106, a thigh push rod motor 107, and a calf push rod motor 108. The backrest push rod motor 106 and the thigh push rod motor 107 are both mounted and fixed on the chair frame 101. The telescopic end of the backrest push rod motor 106 is connected to the backrest assembly 103, the telescopic end of the thigh push rod motor 107 is connected to the thigh assembly 104, the calf push rod motor 108 is mounted and fixed on the thigh assembly 104, and the telescopic end of the calf push rod motor 108 is connected to the calf assembly 105.

[0012] Furthermore, a backrest push rod motor connector 110 and a thigh push rod motor connector 111 are installed at the lower center of the chair frame 101. The backrest push rod motor 106 and the thigh push rod motor 107 are respectively installed on the backrest push rod motor connector 110 and the thigh push rod motor connector 111.

[0013] Furthermore, the thigh assembly 104 is composed of a thigh pad 112 and a thigh frame 113. The bottom of the thigh frame 113 is provided with two push rod motor connecting seats 114, which are respectively connected to the thigh assembly push rod motor 107 and the calf assembly push rod motor 108. The calf assembly 105 is composed of a calf pad 115 and a calf frame 116. The bottom of the calf frame 116 is provided with a push rod motor connecting seat 117, which is connected to the telescopic end of the calf assembly push rod motor 108.

[0014] Furthermore, the backrest assembly 103 consists of a backrest frame 118, a backrest cushion 119, and a headrest 120. The backrest cushion 119 is mounted on the backrest frame 118, and the headrest 120 is rotatably connected to the backrest frame 118. A push rod motor connecting seat 3 121 is provided at the bottom of the backrest frame 118, and the push rod motor connecting seat 3 121 is connected to the telescopic end of the backrest assembly push rod motor 106.

[0015] Furthermore, the multi-axis robotic arm 2 includes a base 201 and multiple robotic arm joints 202 mounted thereon. The base 201 is connected to the output end of a base motor 203 and is fixed to the multi-axis robotic arm connecting seats 109 on both sides of the middle part of the chair frame 101 via the base motor 203. A shoulder motor 204 is installed between the base 201 and the robotic arm joints 202. An elbow motor 205 and a wrist motor 206 are installed between the robotic arm joints 202. The base motor 203, shoulder motor 204, elbow motor 205 and wrist motor 206 are all joint motors and are electrically connected to a controller 4. The controller 4 is fixed under the massage chair seat.

[0016] Furthermore, the bionic robotic hand 3 is detachably connected to the end of the multi-axis robotic arm 2. The bionic robotic hand 3 has multiple motion joints and integrates multiple force-controlled micro servo motors. The main frame of the bionic robotic hand 3 is made of aluminum alloy, the outer surface of the palm and back of the hand of the bionic robotic hand 3 is made of silicone, and the fingertips and finger pads of the bionic robotic hand 3 are made of conductive silicone.

[0017] Furthermore, the bionic robotic hand 3 is equipped with bioelectrical response sensors 303 on its fingertips and finger pads, which are used to detect electromyographic signals or bioelectrical impedance of human muscles; piezoresistive tactile sensors 304 are installed inside the fingertips and finger pads, which are used for tactile feedback; external sensors are installed at the wrist position of the bionic robotic hand 3, including a high-definition camera and an infrared camera.

[0018] Furthermore, the control system of the controller 4 includes a microcomputer processor, an operation panel 5, a Bluetooth module, and a communication interface. The microcomputer processor controls the movement trajectory, force, and speed of the multi-axis robotic arm 2 and the bionic robotic hand 3 based on the user's body data collected by the sensor system.

[0019] Compared with existing technologies, this invention features a massage chair frame composed of multiple adjustable parts. A drive motor allows the frame to transform into different forms, such as a chair or a bed, as needed. Specifically, by changing the relative angles between the frame components, the user's lower legs, thighs, and waist can be adjusted to create various massage postures, better facilitating the use of dexterous hands. These dexterous hands mimic human hands, providing a more flexible and comfortable full-body massage experience. This intelligent bionic massage chair solves the problems of poor massage flexibility, small massage range, and low comfort found in existing massage chairs. It can meet the personalized and diverse massage needs of users of different heights and body shapes, making it worthy of widespread application. [Image Description]

[0020] Figure 1 This is a schematic diagram of the structure of this utility model. Figure 1 (Upright chair shape);

[0021] Figure 2 This is a schematic diagram of the structure of this utility model. Figure 2 (Recliner style);

[0022] Figure 3 This is a schematic diagram of the structure of this utility model. Figure 3 (flat bed morphology);

[0023] Figure 4 This is an exploded view of this utility model;

[0024] Figure 5 This is an exploded view of the adjustable seat of this utility model;

[0025] Figure 6 This is a structural schematic diagram of the chair frame of this utility model;

[0026] Figure 7 This is a schematic diagram of the structure of the thigh assembly of this utility model;

[0027] Figure 8 This is a structural schematic diagram of the lower leg assembly of this utility model;

[0028] Figure 9 This is a schematic diagram of the backrest assembly of this utility model. Figure 1 ;

[0029] Figure 10 This is a schematic diagram of the backrest assembly of this utility model. Figure 2 ;

[0030] Figure 11 This is an exploded view of the backrest assembly of this utility model;

[0031] Figure 12 This is a schematic diagram of the installation structure of the push rod motor for the backrest assembly of this utility model;

[0032] Figure 13 This is a schematic diagram of the installation structure of the thigh push rod motor and the calf push rod motor of this utility model;

[0033] Figure 14 This is a structural schematic diagram of the multi-axis robotic arm of this utility model;

[0034] Figure 15 This is a schematic diagram of the installation structure of the bionic robotic hand of this utility model;

[0035] Figure 16 This is a schematic diagram of the structure of the bionic robotic hand of this utility model. Figure 1 ;

[0036] Figure 17 yes Figure 16 A magnified view of a section at point A in the middle;

[0037] Figure 18 This is a schematic diagram of the structure of the bionic robotic hand of this utility model. Figure 2 ;

[0038] In the diagram: 1. Adjustable seat; 2. Multi-axis robotic arm; 3. Bionic robotic hand; 4. Controller; 5. Control panel; 101. Chair frame; 102. Seat cushion; 103. Backrest assembly; 104. Thigh assembly; 105. Lower leg assembly; 106. Backrest assembly push rod motor; 107. Thigh assembly push rod motor; 108. Lower leg assembly push rod motor; 109. Multi-axis robotic arm connector; 110. Backrest assembly push rod motor connector; 111. Thigh assembly push rod motor connector; 112. Thigh pad; 113. Thigh support; 114. 115. Push rod motor connector 1; 116. Lower leg pad; 117. Lower leg support; 118. Push rod motor connector 2; 119. Backrest frame; 120. Backrest cushion; 121. Headrest; 122. Push rod motor connector 3; 201. Base; 202. Robotic arm joint; 203. Base motor; 204. Shoulder motor; 205. Elbow motor; 206. Wrist motor; 301. Upper knuckle; 302. Palm; 303. Bioelectric response sensor; 304. Piezoresistive tactile sensor; 305. Wrist. [Detailed Implementation]

[0039] As attached Figure 1 To be continued Figure 18As shown, this utility model provides a bionic intelligent massage chair, including an adjustable seat 1, a multi-axis robotic arm 2, a bionic robotic hand 3, and a controller 4. The adjustable seat 1 includes a chair frame 101, a multi-segment adjustable cushion, and a drive motor. The multi-segment adjustable cushion and the drive motor are mounted on the chair frame 101. The multi-segment adjustable cushion adjusts the relative angle through the drive motor, thereby forming a straight chair, a reclining chair, or a flat bed. The left and right sides of the middle of the chair frame 101 are designed with multi-axis robotic arm connecting seats 109, and multi-axis robotic arms 2 are connected through the multi-axis robotic arm connecting seats 109. Each multi-axis robotic arm 2 is connected to a bionic robotic hand 3. The multi-axis robotic arm 2 and the bionic robotic hand 3 are electrically connected to the controller 4.

[0040] The adjustable seat 1 includes a multi-section adjustable cushion comprising a seat cushion 102, a backrest assembly 103, a thigh assembly 104, and a calf assembly 105. The seat cushion 102 is fixed to the middle of the chair frame 101. One side of the seat cushion 102 is rotatably connected to the backrest assembly 103, and the other side of the seat cushion 102 is rotatably connected to the thigh assembly 104. The other side of the thigh assembly 104 is rotatably connected to the calf assembly 105. The drive motor for the adjustable seat 1 includes a backrest assembly push rod motor 106. The thigh push rod motor 107 and the calf push rod motor 108, the backrest push rod motor 106 and the thigh push rod motor 107 are all mounted and fixed on the chair frame 101. The telescopic end of the backrest push rod motor 106 is connected to the backrest assembly 103, the telescopic end of the thigh push rod motor 107 is connected to the thigh assembly 104, the calf push rod motor 108 is mounted and fixed on the thigh assembly 104, and the telescopic end of the calf push rod motor 108 is connected to the calf assembly 105.

[0041] A backrest assembly push rod motor connector 110 and a thigh assembly push rod motor connector 111 are installed at the lower center of the chair frame 101. The backrest assembly push rod motor 106 and the thigh assembly push rod motor 107 are respectively mounted on the backrest assembly push rod motor connector 110 and the thigh assembly push rod motor connector 111. The thigh assembly 104 consists of a thigh pad 112 and a thigh frame 113. Two push rod motor connectors 114 are provided at the bottom of the thigh frame 113. The two push rod motor connectors 114 are respectively connected to the thigh assembly push rod motor 107 and the calf assembly push rod motor 108. The backrest assembly 103 consists of a calf pad 115 and a calf frame 116. The bottom of the calf frame 116 is provided with a push rod motor connector 117, which is connected to the telescopic end of the calf assembly push rod motor 108. The backrest assembly 103 consists of a backrest frame 118, a backrest pad 119, and a headrest 120. The backrest pad 119 is installed on the backrest frame 118, and the headrest 120 is rotatably connected to the backrest frame 118. The bottom of the backrest frame 118 is provided with a push rod motor connector 121, which is connected to the telescopic end of the backrest assembly push rod motor 106.

[0042] The multi-axis robotic arm 2 includes a base 201 and multiple robotic arm joints 202 mounted thereon. The base 201 is connected to the output end of a base motor 203 and is fixed to the multi-axis robotic arm connecting seats 109 on both sides of the middle part of the chair frame 101 through the base motor 203. A shoulder motor 204 is installed between the base 201 and the robotic arm joints 202. An elbow motor 205 and a wrist motor 206 are installed between the robotic arm joints 202. The base motor 203, shoulder motor 204, elbow motor 205 and wrist motor 206 are all joint motors and are electrically connected to a controller 4. The controller 4 is fixed under the massage chair seat.

[0043] The bionic robotic hand 3 is detachably connected to the end of the multi-axis robotic arm 2. The bionic robotic hand 3 has multiple motion joints and integrates multiple force-controlled micro servo motors. The main internal frame of the bionic robotic hand 3 is made of aluminum alloy, and the outer surface of the palm and back of the hand is made of silicone. The fingertips and finger pads are made of conductive silicone. The fingertips and finger pads of the bionic robotic hand 3 are equipped with bioelectrical response sensors 303, which are used to detect electromyographic signals or bioelectrical impedance of human muscles. Piezoresistive tactile sensors 304 are installed inside the fingertips and finger pads for tactile feedback. External sensors, including a high-definition camera and an infrared camera, are installed at the wrist position of the bionic robotic hand 3.

[0044] The control system of controller 4 includes a microcomputer processor, an operation panel 5, a Bluetooth module, and a communication interface. The microcomputer processor controls the movement trajectory, force, and speed of the multi-axis robotic arm 2 and the bionic robotic hand 3 based on the user's body data collected by the sensor system.

[0045] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0046] A biomimetic intelligent massage chair includes an adjustable seat, a multi-axis robotic arm, a biomimetic robotic hand (also known as a biomimetic dexterous hand), a sensor system, and a control system. The biomimetic intelligent massage chair can be deployed in three modes: upright chair, reclining chair, and flat bed, as shown in the attached diagram. Figure 1 To be continued Figure 3 As shown.

[0047] As attached Figure 4 To be continued Figure 13As shown, the adjustable seat mainly consists of a chair frame, multi-section adjustable cushions, and a drive motor. Multi-axis robotic arm bases are designed on both sides of the main frame. The adjustable components, via the drive motor, allow the chair frame to transform into different forms, such as a chair or bed, as needed, allowing the user's joints to extend and flex, creating various comfortable sitting and reclining postures conducive to massage, better facilitating the use of dexterous hands for massage. The chair frame is equipped with backrest push-rod motor connectors and thigh push-rod motor connectors, with multi-axis robotic arm connectors located in the middle of both sides. The backrest push-rod motor is positioned between the chair frame and the backrest assembly, while the lower leg push-rod motor is positioned between the lower leg assembly and the thigh assembly, and vice versa. The thigh assembly consists of a large leg support and a large foot pad, with a push-rod motor connector at the bottom of the thigh support. The lower leg assembly consists of a small leg support and a small foot pad, with a push-rod motor connector at the bottom of the lower leg support. The backrest assembly consists of a backrest frame, a backrest cushion, and a headrest, with a push-rod motor connector at the bottom of the backrest frame.

[0048] As attached Figure 14 As shown, the multi-axis robotic arm includes six joint motors of different torques: a base motor, two shoulder motors, two elbow motors, and two wrist motors. These motors are fixed to connecting bases on both sides of the massage chair, with the controller fixed beneath the chair seat. This multi-axis robotic arm can also utilize existing joint module motors, lowering the barrier to entry for building bionic arms. It allows for the creation of bionic arms with arm lengths suitable for the massage chair's working range, reaching directly to the head and feet. The bionic arm, in conjunction with the collaborative controller, can achieve high-precision spatial positioning of a dexterous hand. The joint module (including a brushless torque motor, low-voltage servo driver, harmonic reducer, encoder, and brake) features a brake and can further achieve power-off memory locking.

[0049] As attached Figure 15 To be continued Figure 18 As shown, regarding the bionic robotic hand, to reduce maintenance costs, the massage chair's dexterous hand can also be an existing modular built-in dexterous hand. The dexterous hand connects to the end of the robotic arm via standard parts, facilitating replacement. Further, a dexterous hand with twelve joints can be used, featuring an aesthetically pleasing design and integrating six force-controlled micro-servo motors to better simulate various massage techniques, such as kneading, pushing, and acupressure. The parts of the dexterous hand that come into contact with the human body during massage are the upper knuckles of the fingers and the palm. The internal main frame of the dexterous hand is designed with aluminum alloy, while the fingertips and finger pads are made of conductive silicone. The outer surface of the palm and back of the hand is made of silicone (hardness 30°). Bioelectric response sensors and internal piezoresistive tactile sensors can be installed at the fingertips and finger pads. External sensors, including high-definition cameras and infrared cameras, can be installed at the wrist position of the dexterous hand.

[0050] The dexterous hand massage can be performed in conjunction with internal and external sensors. Internal sensors, including position, bending, and tension sensors, allow the dexterous hand to better understand its own state. Tactile sensors simulate human tactile feedback, i.e., inputting tactile sensation and generating a corresponding output. External sensors (as shown in the attached image) can be placed at the wrist position of the dexterous hand. Figure 18 External sensors include high-definition cameras and infrared cameras, which can be used to capture the user's body contours.

[0051] This utility model's control system consists of a microcomputer processor, an operation panel, a Bluetooth module, and a communication interface. The microcomputer processor, based on user body data collected by the sensor system, controls the movement trajectory, intensity, and speed of the multi-axis robotic arm and bionic robotic hand to achieve personalized massage. When using the massage, the user simply sits on the massage chair or lies on the massage bed, selects the corresponding massage mode via the operation panel or voice command, and the control system controls the dexterous hand to perform the massage based on the data collected by the sensor system, adjusting the technique and intensity in real time based on feedback.

[0052] The contents not described in detail in this specification are existing technologies known to those skilled in the art. The standard parts used can be purchased from the market, and the irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the existing technology. The machinery, parts and equipment adopt conventional models in the existing technology, and the circuit connection adopts conventional connection methods in the existing technology, which will not be described in detail here.

[0053] This utility model is not limited to the above-described embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of this utility model shall be considered equivalent substitutions and shall be included within the protection scope of this utility model.

Claims

1. A biomimetic intelligent massage chair, characterized in that: The system includes an adjustable seat (1), a multi-axis robotic arm (2), a bionic robotic hand (3), and a controller (4). The adjustable seat (1) includes a chair frame (101), a multi-segment adjustable cushion, and a drive motor. The multi-segment adjustable cushion and the drive motor are mounted on the chair frame (101). The multi-segment adjustable cushion adjusts the relative angle through the drive motor to form a straight chair, a recliner, or a flat bed. The chair frame (101) has multi-axis robotic arm connecting seats (109) on both the left and right sides of the middle section, and multi-axis robotic arms (2) are connected through the multi-axis robotic arm connecting seats (109). Each multi-axis robotic arm (2) is connected to a bionic robotic hand (3). The multi-axis robotic arm (2) and the bionic robotic hand (3) are electrically connected to the controller (4).

2. The bionic intelligent massage chair as described in claim 1, characterized in that: The adjustable seat (1) has a multi-segment adjustable cushion including a seat cushion (102), a backrest assembly (103), a thigh assembly (104), and a calf assembly (105). The seat cushion (102) is fixed to the middle of the chair frame (101). One side of the seat cushion (102) is rotatably connected to the backrest assembly (103), the other side of the seat cushion (102) is rotatably connected to the thigh assembly (104), and the other side of the thigh assembly (104) is rotatably connected to the calf assembly (105).

3. The biomimetic intelligent massage chair as described in claim 2, characterized in that: The drive motor of the adjustable seat (1) includes a backrest push rod motor (106), a thigh push rod motor (107), and a calf push rod motor (108). The backrest push rod motor (106) and the thigh push rod motor (107) are both mounted and fixed on the chair frame (101). The telescopic end of the backrest push rod motor (106) is connected to the backrest assembly (103). The telescopic end of the thigh push rod motor (107) is connected to the thigh assembly (104). The calf push rod motor (108) is mounted and fixed on the thigh assembly (104). The telescopic end of the calf push rod motor (108) is connected to the calf assembly (105).

4. The biomimetic intelligent massage chair as described in claim 3, characterized in that: The chair frame (101) is equipped with a backrest push rod motor connector (110) and a thigh push rod motor connector (111) at the lower middle part. The backrest push rod motor (106) and the thigh push rod motor (107) are respectively installed on the backrest push rod motor connector (110) and the thigh push rod motor connector (111).

5. The biomimetic intelligent massage chair as described in claim 3, characterized in that: The thigh assembly (104) consists of a thigh pad (112) and a thigh frame (113). The thigh frame (113) has two push rod motor connectors (114) at its bottom. The two push rod motor connectors (114) are respectively connected to the thigh assembly push rod motor (107) and the calf assembly push rod motor (108). The calf assembly (105) consists of a calf pad (115) and a calf frame (116). The calf frame (116) has a push rod motor connector (117) at its bottom. The push rod motor connector (117) is connected to the telescopic end of the calf assembly push rod motor (108).

6. The biomimetic intelligent massage chair as described in claim 3, characterized in that: The backrest assembly (103) consists of a backrest frame (118), a backrest cushion (119), and a headrest (120). The backrest cushion (119) is mounted on the backrest frame (118), and the headrest (120) is rotatably connected to the backrest frame (118). The bottom of the backrest frame (118) is provided with a push rod motor connecting seat three (121), which is connected to the telescopic end of the backrest assembly push rod motor (106).

7. The bionic intelligent massage chair as described in claim 1, characterized in that: The multi-axis robotic arm (2) includes a base (201) and multiple robotic arm joints (202) mounted thereon. The base (201) is connected to the output end of a base motor (203) and is fixed to the multi-axis robotic arm connecting seats (109) on both sides of the middle part of the chair frame (101) via the base motor (203). A shoulder motor (204) is installed between the base (201) and the robotic arm joints (202). An elbow motor (205) and a wrist motor (206) are installed between the robotic arm joints (202). The base motor (203), shoulder motor (204), elbow motor (205) and wrist motor (206) are all joint motors and are electrically connected to a controller (4). The controller (4) is fixed under the massage chair seat.

8. The bionic intelligent massage chair as described in claim 1, characterized in that: The bionic robotic hand (3) is detachably connected to the end of the multi-axis robotic arm (2). The bionic robotic hand (3) has multiple motion joints and integrates multiple force-controlled micro servo motors. The main frame of the bionic robotic hand (3) is made of aluminum alloy. The outer surface of the palm and back of the hand of the bionic robotic hand (3) is made of silicone. The fingertips and finger pads of the bionic robotic hand (3) are made of conductive silicone.

9. The biomimetic intelligent massage chair as described in claim 8, characterized in that: The bionic robotic hand (3) is equipped with bioelectrical response sensors (303) on its fingertips and finger pads. The bioelectrical response sensors (303) are used to detect electromyographic signals or bioelectrical impedance of human muscles. Piezoresistive tactile sensors (304) are installed inside the fingertips and finger pads. The piezoresistive tactile sensors (304) are used for tactile feedback. External sensors are installed at the wrist position of the bionic robotic hand (3). The external sensors include a high-definition camera and an infrared camera.

10. The biomimetic intelligent massage chair as described in claim 1, characterized in that: The control system of the controller (4) includes a microcomputer processor, an operation panel (5), a Bluetooth module and a communication interface. The microcomputer processor controls the motion trajectory, force and speed of the multi-axis robotic arm (2) and the bionic robotic hand (3) based on the user's body data collected by the sensor system.

Images