Digital Modeling of Massage Techniques and Reproduction by Robotic Arms

TL;DR

This paper presents a method for digitally modeling traditional Chinese medicine massage techniques and reproducing them with robotic arms, combining adaptive control algorithms with kinematic analysis to enhance assistive therapy.

Contribution

It introduces a novel approach for digitally modeling TCM massage techniques and implementing their reproduction using robotic systems with adaptive admittance control.

Findings

Robot successfully mimics TCM massage characteristics

Adaptive admittance control ensures safety and comfort

Foundation for integrating traditional therapy with robotics

Abstract

This paper explores the digital modeling and robotic reproduction of traditional Chinese medicine (TCM) massage techniques. We adopt an adaptive admittance control algorithm to optimize force and position control, ensuring safety and comfort. The paper analyzes key TCM techniques from kinematic and dynamic perspectives, and designs robotic systems to reproduce these massage techniques. The results demonstrate that the robot successfully mimics the characteristics of TCM massage, providing a foundation for integrating traditional therapy with modern robotics and expanding assistive therapy applications.