基于坐位调膝法的仿生推拿机器人结构设计与实验研究  

Structural design and experimental research of bionic massage robot based on sitting knee adjustment method

作　　者：王雪[1] 王殊轶[1] 马邦峰 龚利[2] 邢华 樊琳 王佳瑜 康宁 WANG Xue;WANG Shuyi;MA Bangfeng;GONG Li;XING Hua;FAN Lin;WANG Jiayu;KANG Ning(School of Health Science and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;Department of Massage,Yueyang Hospital of Integrated Traditional Chinese and Western Medicine Affiliated to Shanghai University of Traditional Chinese Medicine,Shanghai 200437,China;Shanghai Institute of Medical Device Testing,NMPA Key Laboratory for Medical Electrical Equipment,Shanghai 201318,China)

机构地区：[1]上海理工大学健康科学与工程学院,上海200093 [2]上海中医药大学附属岳阳中西医结合医院推拿科,上海200437 [3]上海市医疗器械检验研究院国家药品监督管理局医用电气设备重点实验室,上海201318

出　　处：《智能计算机与应用》2025年第3期39-47,共9页Intelligent Computer and Applications

基　　金：教育部产学合作协同育人项目2022年第二批立项项目(220700487132405);上海市申康三年行动计划资助(SHDC2020CR3096B);上海理工大学联合培养基地项目(10-23-308-007)。

摘　　要：为减轻推拿医生的劳动负荷,增加膝骨关节炎患者的就诊机会,本研究设计了一种基于坐位调膝法的仿生推拿机器人,并对其进行仿真分析与实验研究。首先,使用改进D-H参数法建立运动学分析模型,得到推拿机器人末端位姿表达式以计算其逆解。其次,基于蒙特卡洛法对推拿机器人进行工作空间分析。然后,通过采集实际推拿数据,得到医生大拇指推力与患者膝盖弯曲角度的函数关系及拟合曲线的方程,将其作为推拿机器人输出力控制的依据。最后,制作推拿机器人样机并进行了按摩行程对比实验和模拟推拿实验,验证了整体的可行性。研究结果为后续推拿机器人系统的设计及优化提供了重要的理论依据。In order to reduce the labor load of massage doctors and increase the opportunity of treatment for patients with knee osteoarthritis,a bionic massage robot based on sitting knee adjustment method is designed in this study,and its simulation analysis and experimental research are carried out.Firstly,the improved D-H parameter method is used to establish the kinematic analysis model,and the expression of the end pose of the massage robot is obtained to calculate its inverse solution.Secondly,based on Monte Carlo method,the work space of the massage robot is analyzed.Then,by collecting the actual massage data,the functional relationship between the doctor's thumb thrust and the patient's knee bending angle and the equation of the fitting curve are obtained,which is used as the basis of the output force control of the massage robot.Finally,the prototype of the massage robot is made and the massage stroke comparison experiment and simulated massage experiment are carried out to verify the overall feasibility.The research results provide an important theoretical basis for the design and optimization of the subsequent massage robot system.

关 键 词：膝骨关节炎 坐位调膝法 推拿机器人 运动学分析 

分 类 号：TP302[自动化与计算机技术—计算机系统结构]