The Analysis of Contact Force and Tapping Motion on Human Tissue for Robotic Therapeutic Massage Applications
Date Issued
2016
Date
2016
Author(s)
Tsai, Chin-Po
Abstract
The thesis focuses on the robot control and the massage therapy applications, we divide the content into two parts as followings: In Part I, we discuss the massage force analysis. To make an improvement of the conventional massage tool, the robot needs to know how much force it should exert, and the force should depend on the muscle properties and the human feelings. Thus, we propose a quantization method that the contact force can be adaptively generated by the 7-DoF manipulator on human muscles. The mechanical properties of different muscles can be analyzed under large deformations like the massage by the force-indentation plot. Utilizing stiffness index (SI) of the human muscles, the manipulator can adjust the exerting forces according to the states of muscles during a therapeutic procedure. In part II, we focus on the massage tapping motion research. We utilize the online trajectory generator based on the impedance control to ensure the safety of human and use different velocity and acceleration value as the limit to generate different force. We implement tapping motion with the anthropomorphic dual arm robot, and the Cartesian space teach function to record position as the control input. By the waveform similarity analysis and the impulse-momentum theory, the feasibility of the percussive massage therapy based on robotic tapping motion is verified by the experiments. Besides, we extend the percussive massage to a chest physiotherapy with different end-effector. In conclusion, we propose the robotic acupressure that can exert 0~15kgw with the motion frequency 2~4Hz, and robotic percussive massage that can exert 0~10kgw with the motion frequency 1Hz~2Hz.
Subjects
health care robot
percussive massage
contact force analysis
human tissue
muscle tissue properties
SDGs
Type
thesis
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