摘要
中医按摩机器人可以协助或代替医师完成按摩任务,国内外对中医按摩机器人的相关技术展开了研究,但仍有许多关键技术亟待解决。开展中医按摩机器人关键技术研究,有助于构建统一的中医按摩机器人系统技术架构,可为中医按摩机器人的产业化提供技术参考。文章围绕国内外按摩机器人的研究和应用现状,在对现有研究成果与中医按摩机器人实际应用需求分析的基础上,阐述了中医按摩机器人按摩手法机理及建模,运动机构的刚柔结构体的可靠性设计、伺服运动控制和穴位定位及经络轨迹跟踪伺服运动控制、控制系统体系结构设计、本体机械机构设计以及安全保护机制等关键技术问题,展望了中医按摩机器人的未来研究与发展方向以及未来需重点研究的关键技术问题。
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.
出处
《山东建筑大学学报》
2017年第1期60-68,共9页
Journal of Shandong Jianzhu University
基金
国家863计划资助项目(2010AA040201)
山东省科学技术发展计划项目(2014GGX103002)
山东省科技重大专项计划项目(2015ZDXX0801A03)
关键词
机器人
中医按摩
穴位定位
运动控制
robot
Chinese medical massage
acupoint location
movement control
作者简介
鲁守银（1968-），男，教授，博士，主要从事智能控制与智能机器人系统等方面的研究．E-mail：sdznjqr@163．com
