山东建筑大学学报2017，Vol.32Issue(1)：60-68,9.
中医按摩机器人关键技术研究进展
Research progvess of key technology of Chinese medical massage robot
摘要
Abstract
The Chinese medica massage robot,which can assist or take the place of the massage technician to achieve the task of massage,has been studied by a lot of researchers or scientific research institutions in recent years.However,there are still many key technologies to be solved.The research on the key technology of Chinese medical massage robot is helpful to build a unified technology framework,which can provide technical reference for the industrialization of Chinese medical massage robot.The research and application of the massage robot at home and abroad are introduced,and the systematic analysis and in-depth summary of the achievements in this field are given.According to the existing research results and practical demand analysis,key technologies of the massage robot are deeply discussed,including mechanism analysis and modeling of massage manipulation,the design of massage movement mechanism of rigid flexible coupling structure with high reliability,acupoint positioning and meridian locus tracking servo motion control,system structure of massage robot control system,body mechanical mechanism of massage robot and safety protection mechanism of massage robot.The future research and development direction of traditional Chinese medicine massage robot is prospected,and the key technology issues to be studied in the future are discussed.关键词
机器人/中医按摩/穴位定位/运动控制Key words
robot/Chinese medical massage/acupoint location/movement control分类
建筑与水利引用本文复制引用
鲁守银,李臣..中医按摩机器人关键技术研究进展[J].山东建筑大学学报,2017,32(1):60-68,9.基金项目
国家863计划资助项目(2010AA040201) （2010AA040201）
山东省科学技术发展计划项目(2014GGX103002) （2014GGX103002）
山东省科技重大专项计划项目(2015ZDXX0801A03) （2015ZDXX0801A03）
