This invention discloses an
acupuncture manipulation and force measurement and
evaluation system, comprising three main modules: a measuring device, a
data acquisition module, and a data evaluation module. The measuring device includes a force / torque measuring structure and a manipulation measuring structure. The force / torque measuring structure consists of a two-dimensional
force sensor,
acupuncture needles, and a support. The manipulation measuring structure is based on a Phantom force feedback device. The
data acquisition module hardware includes an
amplifier circuit, an A / D converter, and an STM32
microcontroller. This invention utilizes the force / torque measuring structure and the Phantom force feedback device structure for
data acquisition: the acquired signals are amplified and then analyzed and evaluated, erroneous data is eliminated, and finally reliable data is obtained. This invention can measure and store feedback force, torque, depth, angle,
insertion / lifting speed, and twisting speed data during
acupuncture in real time, and performs
data integrity, accuracy, and consistency evaluations to improve
data reliability.