CN109998880A - A kind of man-machine interactive manipulator massage device of view-based access control model and pressure sensor - Google Patents
A kind of man-machine interactive manipulator massage device of view-based access control model and pressure sensor Download PDFInfo
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- CN109998880A CN109998880A CN201910388609.3A CN201910388609A CN109998880A CN 109998880 A CN109998880 A CN 109998880A CN 201910388609 A CN201910388609 A CN 201910388609A CN 109998880 A CN109998880 A CN 109998880A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
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- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dermatology (AREA)
- Massaging Devices (AREA)
Abstract
The present invention relates to massaging manipulator technical fields, the man-machine interactive manipulator massage device of especially a kind of view-based access control model and pressure sensor, including main truss, main truss includes fixed pedestal, the first rotating stand is provided at the top of fixed pedestal, the second rotating stand is provided on the side wall of first rotating stand, first linking arm is installed on the second rotating stand, third rotating stand is installed on the first linking arm, third rotating stand is connected with hold-down support, second linking arm is installed on hold-down support, 4th rotating stand is installed on the second linking arm, 4th rotating stand is connected with the 5th rotating stand, 5th rotating stand is connected with the 6th rotating stand, 6th rotating stand is connected with end effector, dynamic torsion sensor and vision sensing equipment are installed on end effector, the output end of end effector is installed There is massage finger.Of the invention intelligent high, user can greatly improve the massage effect of manipulator with autonomous operation manipulator.
Description
Technical field
The present invention relates to the man-machine friendships of massaging manipulator technical field more particularly to a kind of view-based access control model and pressure sensor
Mutual formula manipulator massage device.
Background technique
Currently, the massage appliance of mainstream is mainly massage armchair and massage bed etc. in the market, the maximum of these massage appliances is special
Point is can only to provide the massaging action of passive type to human body, pose, the lying posture needed by adjusting oneself is massaged, by itself
Weight squeeze massage machine and realize massaging action, due to the passive extruding at body massaging position, human body is in tight state,
People can not complete effective massaging action in the case where body and mind loosens；In addition to this, big department's massager in the market
Intelligence degree is too low, can only often massage according to fixed program, massage part and massage force are tended not to according to bedding and clothing
The wish of business people is adjusted at any time, therefore the service effectiveness of these massage appliances is often unsatisfactory.
Summary of the invention
The purpose of the present invention is to solve exist in the prior art it is intelligent it is low cannot according to by the wish of service people into
The shortcomings that row is adjusted at any time, and the man-machine interactive manipulator massage device of a kind of view-based access control model and pressure sensor proposed.
To achieve the goals above, present invention employs following technical solutions:
Design the man-machine interactive manipulator massage device of a kind of view-based access control model and pressure sensor, including main truss, institute
Stating main truss includes fixed pedestal, and the first rotating stand is provided at the top of the fixed pedestal, first rotating stand
Output end is rotatablely connected by bearing and fixed pedestal, is provided with the second rotating stand on the side wall of first rotating stand,
The output end of second rotating stand is rotatablely connected by bearing and the first rotating stand, the side wall of second rotating stand
On be fixedly installed with the first linking arm, first linking arm is fixedly installed with third rotation far from one end of the second rotating stand
Support, the output end of the third rotating stand are rotatably connected to hold-down support by bearing, on the side wall of the hold-down support
It is fixedly installed with the second linking arm, second linking arm is fixedly installed with the 4th rotating stand far from one end of hold-down support,
The output end of 4th rotating stand is rotatably connected to the 5th rotating stand, the output of the 5th rotating stand by bearing
End is rotatably connected to the 6th rotating stand by bearing, and the output end of the 6th rotating stand is rotatably connected to end by bearing
Actuator is held, dynamic torsion sensor and vision sensing equipment are fixedly installed on the side wall of the end effector, it is described dynamic
State torsion sensor and vision sensing equipment are connected with controlling terminal by wireless communication, fix inside the end effector
Rotation Controllers is installed, the Rotation Controllers and controlling terminal wireless communication connect, the output end of the end effector
It is fixedly installed with massage finger.
Preferably, it is fixedly installed with servo motor inside first rotating stand, the servo motor is electrically connected with
Electric machine controller, the output shaft of the servo motor are fixedly connected with harmonic speed reducer, and the harmonic speed reducer is fixedly mounted on
In first rotating stand, it is fixedly installed with joint position sensor in first rotating stand, inside the servo motor
Central spindle is fixedly connected with encoder, and the joint position sensor, electric machine controller connect with controlling terminal by wireless communication
It connects.
Preferably, first rotating stand, the second rotating stand, third rotating stand, the 4th rotating stand, the 5th turn
Dynamic support and the 6th rotating stand internal structure are identical.
Preferably, force sensor is fixedly installed with inside the end effector, the force sensor is for detecting
The pressing force angle value of end effector output end.
Preferably, the vision sensing equipment include wechat chip, with wechat chip be electrically connected image capture module,
Image processing module and signal transmitting module, described image acquisition module are used to acquire the image of human body back, then pass through figure
As picture signal is converted into electronic signal by processing module, controlling terminal is finally sent to by signal transmitting module.
Preferably, the controlling terminal wireless communication is connected with user control device, and the user control device can be certainly
The controller of main all motors of manipulation, so as to adjust the position in each joint of mechanical arm, while can independently manipulate end and hold
Row device carries out the massage of different dynamics.
Preferably, the controlling terminal includes control computer, and the control computer is electrically connected with teaching machine and shifting
Dynamic reservoir, the teaching machine are directly connect with control computer, facilitate professional to the Operation and Maintenance of equipment, the teaching
Device is used to by way of pulling teaching to mechanical arm establish and save and pushes away, rubs, kowtowing, by the execution library of four standard operations, so
Action data is stored by mobile memory afterwards.
The man-machine interactive manipulator massage device of a kind of view-based access control model and pressure sensor proposed by the present invention, beneficial to effect
Fruit is:
1, teaching machine is established in systems and is saved by way of pulling teaching to mechanical arm and pushed away, rubs, kowtowing, marking by four
The execution library of quasi- movement can select desired standard massaging action by service people at any time according to their own needs；
2, it acquires the realtime graphic of human body when receiving massage in real time using vision sensing equipment and is uploaded to user's control in real time
Control equipment can be drawn a circle to approve at any time by user control device by service people and modify massage part；
3, mechanical arm tail end installs force snesor, and the real-time adjusting massage of equipment can be controlled by handset user by service people
Strength, mechanical arm carries out the massage of controllable precise according to the size of the massage force of setting and region.
Detailed description of the invention
Fig. 1 is the man-machine interactive manipulator massage device of a kind of view-based access control model and pressure sensor proposed by the present invention
Structural schematic diagram；
Fig. 2 is the man-machine interactive manipulator massage device of a kind of view-based access control model and pressure sensor proposed by the present invention
The cross-sectional view of first rotating stand；
Fig. 3 is the man-machine interactive manipulator massage device of a kind of view-based access control model and pressure sensor proposed by the present invention
The system block diagram of sighting device；
Fig. 4 is the man-machine interactive manipulator massage device of a kind of view-based access control model and pressure sensor proposed by the present invention
The system block diagram of controlling terminal.
In figure: fixed pedestal 1, the first rotating stand 2, the second rotating stand 3, the first linking arm 4, third rotating stand 5,
Hold-down support 51, the second linking arm 6, the 4th rotating stand 7, the 5th rotating stand 8, the 6th rotating stand 9, dynamic Torsion sensing
Device 10, vision sensing equipment 11, end effector 12, massage finger 13, servo motor 21, harmonic speed reducer 22, joint position
Sensor 23, electric machine controller 24.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-4, the man-machine interactive manipulator massage device of a kind of view-based access control model and pressure sensor, including main structure
Frame, main truss include fixed pedestal 1, and the top of fixed pedestal 1 is provided with the first rotating stand 2, the output of the first rotating stand 2
End is rotatablely connected by bearing and fixed pedestal 1, is fixedly installed with servo motor 21, servo motor inside the first rotating stand 2
21 are electrically connected with electric machine controller 24, and the output shaft of servo motor 21 is fixedly connected with harmonic speed reducer 22, harmonic speed reducer
22 are fixedly mounted in the first rotating stand 2, and joint position sensor 23, servo electricity are fixedly installed in the first rotating stand 2
Central spindle inside machine 21 is fixedly connected with encoder, and joint position sensor 23, electric machine controller 24 pass through with controlling terminal
Wireless communication connection.
The second rotating stand 3 is provided on the side wall of first rotating stand 2, the output end of the second rotating stand 3 passes through axis
It holds and is rotatablely connected with the first rotating stand 2, the first linking arm 4, the first connection are fixedly installed on the side wall of the second rotating stand 3
Arm 4 is fixedly installed with third rotating stand 5 far from one end of the second rotating stand 3, and the output end of third rotating stand 5 passes through axis
It holds and is rotatably connected to hold-down support 51, the second linking arm 6 is fixedly installed on the side wall of hold-down support 51, the second linking arm 6 is remote
One end from hold-down support 51 is fixedly installed with the 4th rotating stand 7, and the output end of the 4th rotating stand 7 is rotated by bearing to be connected
It is connected to the 5th rotating stand 8, the output end of the 5th rotating stand 8 is rotatably connected to the 6th rotating stand 9 by bearing, and first turn
Dynamic support 2, the second rotating stand 3, third rotating stand 5, the 4th rotating stand 7, the 5th rotating stand 8 and the 6th rotating stand
9 internal structures are identical, and the output end of the 6th rotating stand 9 is rotatably connected to end effector 12, end effector by bearing
Dynamic torsion sensor 10 and vision sensing equipment 11 are fixedly installed on 12 side wall, dynamic torsion sensor 10 and vision pass
Induction device 11 is connected with controlling terminal by wireless communication, and vision sensing equipment 11 includes wechat chip and wechat chip electricity
Property connection image capture module, image processing module and signal transmitting module, image capture module is for acquiring human body back
Image, picture signal is then converted by electronic signal by image processing module, is finally sent to by signal transmitting module
Controlling terminal, sighting device are used to measure and monitor the space coordinate at pressing position, and the signal output end of sighting device connects control
Computer processed, Real-time Feedback is to user；Force sensor be used for detect massage finger 13 pressure value, pressure input signal and
Robot power section connection, output end connection control computer, feedback user, user terminal realize massage object and massage machine
Man-machine communication between people with interact.
Force sensor is fixedly installed with inside end effector 12, force sensor is defeated for detecting end effector 12
The pressing force angle value of outlet, pressure input signal are connect with robot power section, output end connection control computer, feedback
User；User terminal realize man-machine communication between massage object and massage robot with interact, with control computer using wireless
Connection；Rotation Controllers is fixedly installed with inside end effector 12, Rotation Controllers and controlling terminal wireless communication connect, end
The output end of end actuator 12 is fixedly installed with massage finger 13, and controlling terminal wireless communication is connected with user control device, uses
Family control equipment can independently manipulate the controller of all motors, so as to adjust the position in each joint of mechanical arm, while can
Independently to manipulate the massage that end effector 12 carries out different dynamics, the controlling terminal includes control computer, the control
Computer is electrically connected with teaching machine and mobile memory, and teaching machine is directly connect with control computer, facilitates professional couple
The Operation and Maintenance of equipment, teaching machine are used to by way of pulling teaching to mechanical arm establish and save and push away, rub, kowtowing, by four
The execution library of standard operation, then stores action data by mobile memory.
Working principle: using user control device starter, and manipulator is returned to original state position, visual sensing dress
11 startings are set, the image of human body back, system matches data are acquired, feedback arrives controlling terminal, and controlling terminal receives and parses master
System command is controlled, the information such as acupuncture point coordinate and massage manipulation order are received, data live fluoroscopic drives mechanical arm on control flow
The mobile specified coordinate point of each axis, adjustment end effector 12 arrive the corresponding acupuncture point position of human body back, and controlling terminal imports corresponding
Massage manipulation program simultaneously executes order, and during robot work, vision sensing equipment monitors the image of human body back in real time, real
When analysis acupuncture point position and in real time adjusting end effector position；User can real-time image acquisition, and user's control can be passed through
Situations such as equipment obtains image, selects massage position, such as emergency out, such as uncomfortable, stops current massaging action, machine
Tool hand is restored to the initial position of work；After confirmation, it can choose whether to continue currently to massage by user control device
Movement, when manipulator program finishes execution, manipulator playbacks to original state position, waits the order of operator.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. the man-machine interactive manipulator massage device of a kind of view-based access control model and pressure sensor, including main truss, feature exist
In the main truss includes fixed pedestal (1), is provided with the first rotating stand (2) at the top of the fixed pedestal (1), described
The output end of first rotating stand (2) is rotatablely connected by bearing and fixed pedestal (1), the side of first rotating stand (2)
It is provided on wall the second rotating stand (3), the output end of second rotating stand (3) passes through bearing and the first rotating stand
(2) it is rotatablely connected, is fixedly installed with the first linking arm (4) on the side wall of second rotating stand (3), first linking arm
(4) be fixedly installed with third rotating stand (5) far from the one end of the second rotating stand (3), the third rotating stand (5) it is defeated
Outlet is rotatably connected to hold-down support (51) by bearing, is fixedly installed with the second connection on the side wall of the hold-down support (51)
Arm (6), second linking arm (6) are fixedly installed with the 4th rotating stand (7) far from the one end of hold-down support (51), and described the
The output end of four rotating stands (7) is rotatably connected to the 5th rotating stand (8) by bearing, the 5th rotating stand (8)
Output end is rotatably connected to the 6th rotating stand (9) by bearing, and the output end of the 6th rotating stand (9) is turned by bearing
It is dynamic to be connected with end effector (12), dynamic torsion sensor (10) are fixedly installed on the side wall of the end effector (12)
With vision sensing equipment (11), the dynamic torsion sensor (10) and vision sensing equipment (11) connect by wireless communication
There is controlling terminal, Rotation Controllers is fixedly installed with inside the end effector (12), the Rotation Controllers and control are eventually
End wireless communication connection, the output end of the end effector (12) are fixedly installed with massage finger (13).
2. the man-machine interactive manipulator massage device of a kind of view-based access control model according to claim 1 and pressure sensor,
It is characterized in that, being fixedly installed with servo motor (21) inside first rotating stand (2), the servo motor (21) is electrically
It is connected with electric machine controller (24), the output shaft of the servo motor (21) is fixedly connected with harmonic speed reducer (22), described humorous
Wave retarder (22) is fixedly mounted in the first rotating stand (2), and joint position is fixedly installed in first rotating stand (2)
It sets sensor (23), the internal central spindle of the servo motor (21) is fixedly connected with encoder, the joint position sensor
(23), electric machine controller (24) is connect with controlling terminal by wireless communication.
3. the man-machine interactive manipulator massage device of a kind of view-based access control model according to claim 1 and pressure sensor,
It is characterized in that, first rotating stand (2), the second rotating stand (3), third rotating stand (5), the 4th rotating stand
(7), the 5th rotating stand (8) is identical with the 6th rotating stand (9) internal structure.
4. the man-machine interactive manipulator massage device of a kind of view-based access control model according to claim 1 and pressure sensor,
It is characterized in that, being fixedly installed with force sensor inside the end effector (12), the force sensor is for detecting
The pressing force angle value of end effector (12) output end.
5. the man-machine interactive manipulator massage device of a kind of view-based access control model according to claim 1 and pressure sensor,
It is characterized in that, the vision sensing equipment (11) include wechat chip, with wechat chip be electrically connected image capture module,
Image processing module and signal transmitting module, described image acquisition module are used to acquire the image of human body back, then pass through figure
As picture signal is converted into electronic signal by processing module, controlling terminal is finally sent to by signal transmitting module.
6. the man-machine interactive manipulator massage device of a kind of view-based access control model according to claim 1 and pressure sensor,
The controlling terminal wireless communication is connected with user control device, and the user control device can independently manipulate all motors
Controller so as to adjust the position in each joint of mechanical arm, while can independently manipulate end effector (12) and carry out difference
The massage of dynamics.
7. the man-machine interactive manipulator massage device of a kind of view-based access control model according to claim 6 and pressure sensor,
The controlling terminal includes control computer, and the control computer is electrically connected with teaching machine and mobile memory, described to show
Religion device is directly connect with control computer, facilitates professional to the Operation and Maintenance of equipment, and the teaching machine is used for by machine
The mode that tool arm pulls teaching, which is established and saved, to be pushed away, rubs, kowtowing, by the execution library of four standard operations, and mobile storage is then passed through
Device stores action data.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910388609.3A CN109998880A (en) | 2019-05-10 | 2019-05-10 | A kind of man-machine interactive manipulator massage device of view-based access control model and pressure sensor |
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| CN201910388609.3A CN109998880A (en) | 2019-05-10 | 2019-05-10 | A kind of man-machine interactive manipulator massage device of view-based access control model and pressure sensor |
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Cited By (7)
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| CN110946746A (en) * | 2019-12-04 | 2020-04-03 | 路邦科技授权有限公司 | Robot-based all-dimensional self-teaching physical therapy system and control method thereof |
| CN111135035A (en) * | 2020-01-17 | 2020-05-12 | 浙江清华柔性电子技术研究院 | Flexible massage robot |
| CN112245789A (en) * | 2020-11-04 | 2021-01-22 | 江苏师范大学 | Body surface scald nursing instrument |
| CN113304037A (en) * | 2021-03-26 | 2021-08-27 | 上海大学 | Series-parallel massage robot integrating multiple intelligent perceptions |
| CN113304027A (en) * | 2021-06-30 | 2021-08-27 | 慧诚自动化技术(宁波)有限公司 | Flexible rapping device |
| CN114681279A (en) * | 2022-03-28 | 2022-07-01 | 嘉兴市妇幼保健院 | Female abdomen massage physical therapy device |
| CN116172847A (en) * | 2023-04-26 | 2023-05-30 | 深圳市艾洛斯电子科技有限公司 | Multi-degree-of-freedom massage robot with massage function |
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| CN111135035A (en) * | 2020-01-17 | 2020-05-12 | 浙江清华柔性电子技术研究院 | Flexible massage robot |
| CN112245789A (en) * | 2020-11-04 | 2021-01-22 | 江苏师范大学 | Body surface scald nursing instrument |
| CN113304037A (en) * | 2021-03-26 | 2021-08-27 | 上海大学 | Series-parallel massage robot integrating multiple intelligent perceptions |
| CN113304037B (en) * | 2021-03-26 | 2022-11-22 | 上海大学 | Series-parallel massage robot integrating multiple intelligent perceptions |
| CN113304027A (en) * | 2021-06-30 | 2021-08-27 | 慧诚自动化技术(宁波)有限公司 | Flexible rapping device |
| CN114681279A (en) * | 2022-03-28 | 2022-07-01 | 嘉兴市妇幼保健院 | Female abdomen massage physical therapy device |
| CN114681279B (en) * | 2022-03-28 | 2024-02-13 | 嘉兴市妇幼保健院 | Female abdomen massage physiotherapy device |
| CN116172847A (en) * | 2023-04-26 | 2023-05-30 | 深圳市艾洛斯电子科技有限公司 | Multi-degree-of-freedom massage robot with massage function |
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Application publication date: 20190712 |