机器人2026，Vol.48Issue(2)：284-297,432,15.DOI:10.13973/j.cnki.robot.250064
兼具多种理疗手法和穴位识别能力的多模态交互理疗机器人
A Multi-modal Interactive Physiotherapy Robot with Multiple Physiotherapy Operations and Acupoint Recognition
摘要
Abstract
To address the shortcomings of physiotherapy robots in dynamic acupoint recognition and interaction perfor-mance,a multimodal interactive physiotherapy robot system is proposed,which combines multiple physiotherapy operations with dynamic acupoint precise recognition.Firstly,a multimodal human-machine interaction framework integrating vision,touch,force,position,and language is proposed by considering the individual user characteristics and the requirements for safety and compliance in the physiotherapy process,and a physiotherapy robot system is constructed.Additionally,a pneu-matic end-effector capable of simulating various physician operations is integrated into the system.Secondly,a dynamic acupoint recognition paradigm for the human back is developed,including dataset construction,annotation and processing of datasets,as well as training and optimization of acupoint recognition models.A two-stage acupoint processing method is in-troduced,and a multiscale acupoint recognition model is established,named RTOP-AcuDet(real-time object and pose-based acupoint detection),to achieve recognition and tracking of back acupoints.Finally,the end-effector is controlled based on the characteristics of physiotherapy operations by using a hybrid force-position control method combined with task planning methods for efficient reproduction of physiotherapy operations.In experimental verification,the proposed high-precision dynamic recognition method of back acupoints achieves the model average error of about 5.52 mm,the average recall rate of about 91.43%,and the model detection efficiency of 31.5 frames/s,and can be combined with the multi-modal human-machine interaction framework to form a multi-modal physiotherapy robot system suitable for a variety of physiotherapy service scenarios.关键词
穴位识别/多模态交互/气动末端执行器/安全性与柔顺性Key words
acupoint recognition/multimodal interaction/pneumatic end-effector/safety and compliance引用本文复制引用
赵东辉,鲍思宇,牛春晖,丁嘉辉,杨俊友,刘厚德..兼具多种理疗手法和穴位识别能力的多模态交互理疗机器人[J].机器人,2026,48(2):284-297,432,15.基金项目
国家自然科学基金(92248304) （92248304）
辽宁省人工智能重点研发计划(2023JH26/10200018) （2023JH26/10200018）
辽宁省教育厅基本科研项目(LJ212410142073). （LJ212410142073）
