Master-Slave Force Control for Remote Tactile Massage
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Solution Overview
Problem
Current massage technologies lack the ability to remotely provide a tactile sensation similar to a practitioner's massage, limiting the effectiveness and personalization of massage experiences for users.
Innovation Solution
A position/force control system comprising master and slave apparatuses that transmit and receive force tactile sensations, allowing practitioners to remotely administer massages through a network, with control parameters stored and edited for personalized treatment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If massage technologies use automated mechanisms, then productivity increases, but the tactile sensation becomes less similar to human massage
Solution Approach 1:
The system employs feedback control where the reaction force from the user's body is detected by the slave apparatus and transmitted back to the master apparatus. This allows the practitioner to feel the user's body response in real-time and adjust the massage operation accordingly, maintaining tactile authenticity while using automated mechanisms.
Solution Approach 2:
The control apparatus acts as an intermediary between the master and slave apparatuses, transmitting control parameters and reaction force information. This intermediary system enables remote operation while preserving the tactile connection, allowing automated mechanisms to deliver human-like massage sensations.
2Productivity
If remote massage is implemented, then practitioner workload is reduced, but the ability to provide personalized treatment is limited
Solution Approach 1:
The real-time feedback of reaction force from the user's body allows the practitioner to sense and adapt to individual user characteristics and preferences, enabling personalized treatment decisions even during remote operation.
Solution Approach 2:
The control parameters for the slave apparatus are dynamically adjusted based on the practitioner's operations and the user's real-time body response. This dynamic adaptation enables personalized treatment while maintaining remote operation efficiency.
3Reliability
If force tactile sensation transmission is added, then device complexity increases, but the massage effectiveness improves
Solution Approach 1:
The control apparatus serves as an intermediary that manages the complex force tactile sensation transmission between master and slave apparatuses. It processes control parameters and reaction force information, simplifying the overall system architecture while enabling sophisticated tactile feedback.
Solution Approach 2:
The system replaces direct mechanical connection with electronic signal transmission for force tactile sensation. Control parameters and reaction force information are transmitted electronically between apparatuses, reducing mechanical complexity while maintaining tactile feedback functionality.
Data Source
AI summary
- - - A position/force control system includes one or multiple masterprimary apparatuses that receive an input of a treatment operation, one or multiple secondary apparatuses that output a treatment operation, and a control device that controls the one or multiple primary apparatuses and the one or multiple secondary apparatuses. The control device transmits a control parameter for causing the one or multiple secondary apparatusesto output force tactile sensation that corresponds to the treatment operation that is inputted into the one or multiple masterprimary apparatuses to the one or multiple secondary apparatuses and transmits a control parameter for causing the one or multiple masterprimary apparatuses to output reaction force against the treatment operation that is outputted by the one or multiple secondary apparatuses to the one or multiple primary apparatuses.- - -