基于视觉引导的推拿机器人设计与实现  

Design and implementation of massage robot based on visual guidance

作　　者：武欣 巩斌 杨皓 方宇 WU Xin;GONG Bin;YANG Hao;FANG Yu(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《上海工程技术大学学报》2024年第1期57-62,共6页Journal of Shanghai University of Engineering Science

摘　　要：基于视觉引导设计中医(traditional chinese medicine,TCM)推拿机器人。通过搭建视觉引导平台,以Franka多自由度机械臂为基础建立推拿机器人平台,并构建两个平台间的数据映射模型,通过机器人操作系统(robot operating system,ROS)将机械臂与计算机(PC)端连接实现实时控制;将光学运动捕捉技术与多自由度机械臂融合,实现对中医推拿过程的学习与复现。A traditional Chinese medicine(TCM)massage robot based on visual guidance was designed.By building a visual guidance platform,the massage robot platform was established based on the Franka multi-degree of freedom robotic arm,and the data mapping model between the two platforms was constructed.The robot arm was connected to the PC through the robot operating system(ROS)system to achieve real-time control.By integrating the optical motion capture technology with the multi-degree of freedom robotic arm,the learning and reproduction of TCM massage techniques were realized.

关 键 词：中医推拿 机械臂 运动捕捉技术 机器人操作系统 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]