Vision-Integrated Physiotherapy Service Robot Using Cooperating Two Arms

This study present the mechanical architecture, control system and other modules of a physiotherapy service robot which can treat degenerative disease and chronic disease of middle-aged and aged people by Chinese massage skill. The main body of the robot includes a massage adjustable bed, two 4-DOF robot arms and two massage hands that can accomplish various massage manipulations. Two arms cooperate to improve the massage efficiency and provide sufficient strength and enough reachable workspace for massage. The main control system is based on embedded module and the manipulators are controlled by a TRIO multi-axes motion controller. Physiological signal and massage pressure is detecting in real time in massage process to ensure a scientific and safe therapy. Vision System sends the recognized acupoint position to the master system to track the patient’s body and the acupoint being massaged is displayed in real time by the 3D virtual model. The robot can execute ten massage manipulations, which make traditional Chinese massage can have a robot instead. The effectiveness for degenerative lumbago in middle-aged and aged is demonstrated by laboratory examination and clinical trial.