Vision-Guided Robotic Massage Bed for Full-Body Coverage
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Solution Overview
Problem
Existing massage robots and systems face issues such as high cost, limited workspace, dependence on human specialists, reduced stability and repeatability, and inadequate patient body positioning, which affect the safety and effectiveness of massage procedures.
Innovation Solution
A robotic massage system with a main unit, massage bed, massaging tool positioning system, and control system, featuring a linear movement module, load-bearing bracket, robotic arm, and multiple machine vision cameras for accurate patient positioning and massaging tool placement, allowing for roller vibrocompression by spheres.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a robotic arm with limited workspace is used, then the device complexity and cost are reduced, but the ability to cover full body massage areas is compromised
Solution Approach 1:
The robotic system is divided into multiple independent robotic arms, each with a limited workspace, that work in coordination to cover different body regions. This segmentation allows each arm to be simpler and more cost-effective while the collective system achieves full body coverage through multi-arm collaboration.
Solution Approach 2:
The system transitions from a single robotic arm operating in one workspace to multiple robotic arms operating in coordinated three-dimensional space. By adding spatial dimensions and utilizing vertical stacking or lateral arrangement of multiple arms, the system expands its effective coverage area without increasing the complexity of individual arms.
2Device complexity
If a single cantilevered binocular vision module is used, then the device complexity is reduced, but the patient body positioning accuracy is insufficient
Solution Approach 1:
Multiple binocular vision modules are merged into a coordinated system, each covering specific viewing angles and body regions. The combined data from these modules creates a comprehensive three-dimensional map of the patient's body position, achieving high measurement precision through data fusion while keeping individual modules relatively simple.
Solution Approach 2:
The vision system transitions from a single binocular module providing limited depth perception to multiple binocular modules arranged in three-dimensional space. This spatial arrangement creates redundant viewing angles and enables more accurate triangulation and positioning through multi-view geometry, significantly improving body position identification accuracy.
3Adaptability or versatility
If a robotic arm with large workspace is used, then the full body massage coverage is achieved, but the device complexity and cost increase
Solution Approach 1:
Instead of using one large complex robotic arm, the system segments the massage coverage task across multiple smaller robotic arms with simpler designs. Each arm handles a specific region or set of regions, reducing individual arm complexity while maintaining overall system capability through coordinated operation.
Solution Approach 2:
Multiple robotic arms with standardized, simpler designs are used to perform multiple massage functions across different body areas. Each arm can be programmed to perform various massage techniques and can be dynamically assigned to different body regions, achieving universal coverage without requiring each arm to be highly specialized or complex.
4Reliability
If manual massaging tool is used by qualified specialist, then the massage quality is maintained, but the cost and dependence on human factor increase
Solution Approach 1:
The robotic system incorporates vision systems, force sensors, and control algorithms that provide continuous feedback during massage operations. This feedback loop allows the system to monitor and adjust its actions in real-time, maintaining consistent massage quality and safety without human intervention, while the control software encodes expert massage protocols for reliable reproduction.
Solution Approach 2:
The robotic system performs massaging operations autonomously without requiring qualified specialists to physically perform the massage. The system self-regulates its movements, pressure, and techniques based on pre-programmed protocols and real-time sensor feedback, eliminating dependence on human operators while maintaining therapeutic quality through automated control.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances massage safety, accuracy, and effectiveness by enabling full-body coverage with reduced cost and improved stability, allowing seamless and comprehensive massage without requiring patient repositioning.
Implementation Method 1
The computer vision system includes at least two machine vision cameras, wherein the extreme cameras are spaced at a distance at least half as long as the massage bed itself and mounted on a stationary bracket above the massage bed, which enables to see the patient on the table entirely
Implementation Method 2
The system utilizes the method of roller vibrocompression by spheres that is adapted to disorders to which all patients are more or less susceptible; the method affects the vascular system, enhancing microcirculation, the lymphatic system, and tissues, for muscle relaxation or toning
Implementation Method 3
roller vibrocompression (compressive microvibration) by spheres
Data Source
AI summary
Robot for massaging patients includes housing, massage bed, massaging tool positioning system, massaging tool, and control system; positioning system includes linear movement module, load-bearing bracket, and robotic arm; control system includes a computer vision system, a computer, a robotic arm control unit, and a human interface; massage bed is positioned above housing, linear movement module is mounted on housing and aligned along massage bed, and is at least half as long as massage bed; load-bearing bracket is mounted on linear movement module; robotic arm is mounted on load-bearing bracket above massage bed; and massaging tool is mounted on robotic arm; computer vision system includes an stationary bracket and two machine vision cameras, maximum distance between cameras being at least half as long as massage bed; cameras are mounted on stationary bracket and positioned above massage bed; computer and robotic arm control unit are located inside housing.