3D Body Model Massage Trajectory for Posture-Adaptive Robotics
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Solution Overview
Problem
Existing automatic massage systems fail to accommodate patients with different body geometries and positions while accounting for anatomical features accurately.
Innovation Solution
A method involving a unified 3D human body model with triangular faces, adjusted by a regressor to fit patient measurements, generates a massage trajectory in surface coordinates, transferred to spatial coordinates for robotic manipulator control, ensuring accurate massage despite changing patient positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single massage program is applied to patients with different body geometry, then the program can be universally used, but it cannot accurately account for individual anatomical features
Solution Approach 1:
The system dynamically adjusts the massage program by continuously measuring the patient's body surface geometry and recalculating trajectories in real-time. The robotic manipulator adapts its motion paths, pressure forces, and massage poses based on the actual measured anatomy rather than relying on static pre-programmed trajectories, thereby achieving both universality and individualized precision.
Solution Approach 2:
The system changes the parameters of the massage program (trajectory coordinates, pressure forces, motion speeds) based on measured body surface data. By using a unified 3D human body model with adjustable parameters that fit individual patient geometry, the system transforms a single universal program into a customized one through parameter adaptation rather than creating separate programs for each patient.
2Productivity
If massage trajectories are pre-calculated for typical body models, then the massage process is efficient, but it cannot correct for variations in patient position and posture
Solution Approach 1:
The system implements continuous feedback by measuring the patient's actual body surface geometry during the massage process using a three-dimensional camera. The measured data is compared with the target model, and the robotic manipulator's trajectories are recalculated and corrected in real-time based on the detected deviations, ensuring accuracy despite position or posture changes.
Solution Approach 2:
The system performs preliminary measurement of the patient's body surface geometry before executing the massage program. This preliminary action creates an updated target model that serves as the basis for calculating accurate trajectories, allowing the system to prepare corrected motion paths in advance while maintaining efficient operation.
3Adaptability or versatility
If a unified 3D human body model with adjustable parameters is used, then the model can adapt to different patients, but the complexity of model adjustment increases
Solution Approach 1:
The system performs self-adjustment by automatically fitting the unified 3D human body model to the measured patient surface data using algorithmic parameter optimization. The model autonomously adapts its geometry parameters (body dimensions, curvature, surface topology) based on the measured point cloud without requiring manual intervention, thereby reducing operational complexity while maintaining high adaptability.
Solution Approach 2:
The system replaces manual model adjustment mechanisms with automated computational methods. Instead of physically adjusting model parameters or requiring expert manual configuration, the system uses computer vision algorithms and optimization routines to automatically fit the unified model to patient geometry, substituting mechanical/manual adjustment with intelligent software-based adaptation.
Data Source
AI summary
The invention relates to an automatic massage method and device. A massage trajectory is generated on a typical human body surface model in surface coordinates. A target human body surface model is generated by adjusting its parameters to measurement results of a surface of a patient body. The patient body is placed in a posture close to a recommended posture and its surface is measured using a three-dimensional camera. The target human body surface model is further adjusted to the measured surface of the patient body. The massage trajectory is transferred from the surface coordinates into spatial coordinates, and a motion trajectory of a massage tool is calculated in coordinates of a robotic manipulator. Next, the patient body is massaged by moving the massage tool along the motion trajectory. The massage trajectory is re-calculated continuously to correct the motion trajectory when changing the position and posture of the patient body.