Intelligence Self-Propelled Planar Parallel Robot for Sliding Cupping-Glass Massage for Back and Chest

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 658)

Abstract

There are numerous examples of effective using of sliding cupping-glass massage for disease prevention, treatment, rehabilitation, and removal of weariness. This is kind of massage including combination influences to patient’s back and chest by cupping-glasses and massage. However, work of masseur is connected with a big physical stress that can be cause of pathological changes in spine. Moreover, masseur can make the massage only with one patient by two hands. As a result daily productivity of the masseur is limited. Therefore advanced intelligence carried massage robots are needed for sliding cupping-glass massage, being able to work autonomously without the presence of the masseur. A comparative analysis of modern robots is performed (including anthropomorphic one/two-armed massage robots) and any suitable robots for autonomous sliding cupping-glass massage haven’t found. Therefore in this paper, a novel approach to a creation of intelligence self-propelled autonomous portable massage robot based on original planar parallel mechanism is presented. The planar massage robot based on triangular parallel structure with 3 d.o.f., called the Triangle, is designed for sliding cupping-glass massage for back and chest. Main massage manipulations of robot are presented along with a description of proposed locomotion algorithms. Locomotion and manipulation experiments are performed by pneumatic prototypes.

Keywords

Intelligence Massage Robot 3DOF Parallel Structure Planar Parallel Robot 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Dubrovsky, V.I., Dubrovskaya, A.V.: Therapeutic massage. GEOTAR-Media, Moscow (2004) (in Russian).Google Scholar
  2. 2.
    Beck M.F.: Theory & Practice of Therapeutic Massage (5th edn.). CENGAGE Learning, New York (2016).Google Scholar
  3. 3.
    Merlet, J.-P.: Parallel Robots (2nd edn.). Springer, Dordrecht (2006).Google Scholar
  4. 4.
    Farhan A. Salem,”Modeling, Simulation and Control Issues for a Robot ARM; Education and Research (III)”, International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.4, pp.26-39, 2014. DOI:  10.5815/ijisa.2014.04.03
  5. 5.
    Gopal Krishan, V. R. Singh,”Motion Control of Five Bar Linkage Manipulator Using Conventional Controllers Under Uncertain Conditions”, International Journal of Intelligent Systems and Applications(IJISA), Vol.8, No.5, pp.34-40, 2016. DOI:  10.5815/ijisa.2016.05.05
  6. 6.
    Bischoff, R., Kurth, J., Schreiber, G., Koeppe, R., Albu-Schäffer, A., Beyer, A., Eiberger, O., Haddadin S., Stemmer A., Grunwald G., Hirzinger, G.: The KUKA-DLR Lightweight Robot arm-a new reference platform for robotics research and manufacturing. In: Robotics (ISR), 2010 41st international symposium on and 2010 6th German conference on robotics (ROBOTIK), pp. 741-748. VDE Verlag GmbH, Berlin (2011).Google Scholar
  7. 7.
    Golovin, V., Arkhipov, M., Zhuravlev, V.: Force training for position/force control of massage robots. In: New Trends in Medical and Service Robots, pp. 95-107. Springer International Publishing, Switzerland (2014).Google Scholar
  8. 8.
    Huang, Y., Li, J., Huang, Q., Liu, C.: Design and control of anthropomorphic BIT soft arms for TCM remedial massage. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1960-1965. IEEE, Tokyo, Japan (2013).Google Scholar
  9. 9.
    EMMA, the Robot Therapist. Innovation-The Singapore Magazine of Research and Technology 15(1), (2016), http://www.innovationmagazine.com/volumes/v15n1/in-brief2.html.
  10. 10.
    Iroju Olaronke, Ojerinde Oluwaseun, Ikono Rhoda,”State Of The Art: A Study of Human-Robot Interaction in Healthcare”, International Journal of Information Engineering and Electronic Business(IJIEEB), Vol.9, No.3, pp.43-55, 2017. DOI:  10.5815/ijieeb.2017.03.06
  11. 11.
    Sajapin, S.N., Sajapina, M.S.: Russian Patent 2551939, Byull. Izobret., no 16 (2015).Google Scholar
  12. 12.
    Santosh Kumar Nanda,Swetalina Panda,P Raj Sekhar Subudhi,Ranjan Kumar Das,”A Novel Application of Artificial Neural Network for the Solution of Inverse Kinematics Controls of Robotic Manipulators”, International Journal of Intelligent Systems and Applications(IJISA), vol.4, no.9, pp.81-91, 2012.  10.5815/ijisa.2012.09.11
  13. 13.
    Koliskor, A.Sh.: Development and study of industrial robots based on l-coordinates. Stanki i Instrument 12, 21-24 (1982), (in Russian).Google Scholar

Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.A. Blagonravov Institute of Machines Science of the Russian Academy of SciencesMoscowRussia

Personalised recommendations