Flexible physiotherapy massage robot

Aiming at the lack of softness and low safety of the current physical therapy massage robots, flexible silicone materials are used in combination with radio-frequency thermotherapy functional components to design a flexible massage head with radio-frequency thermotherapy massage function, and combined with machine vision technology to identify the back of the human body, plan the massage path, and integrate with the 6-DOF collaborative robot arm to develop a prototype of a flexible back massage robot. The silicone corrugated airbag of the flexible massage head can present different stiffness according to the input air pressure, so as to adapt to different physiotherapy massage needs. The simulation analysis of the stress and strain of the silicone airbag is carried out. Through the stiffness test experiment, the variable stiffness performance of the corrugated airbag is tested, the relationship between the air pressure and the stiffness is obtained, and the appropriate massage air pressure is determined. This paper uses three-dimensional depth information and two-dimensional skin color information to identify the area to be massaged on the back of the human body. According to the actual needs of physiotherapy and massage, and based on the principle of spiral line, a circular massage trajectory algorithm for cooperative robotic arms is proposed.