MATEC Web Conf.
Volume 125, 201721st International Conference on Circuits, Systems, Communications and Computers (CSCC 2017)
|Number of page(s)||6|
|Published online||04 October 2017|
Self-propelled autonomous 2D parallel robots for sliding cupping-glass massage for back and chest
1 Institute for Machine Science named after A.A. Blagonravov of the Russian Academy of Science, 101990 Moscow, Russia
2 A. Tsyb Medical Radiological Research Centre, 249036, Obninsk, Russia
* Corresponding author: S.Sayapin@rambler.ru
There are numerous examples of effective using of sliding cupping-glass massage for disease prevention, treatment, rehabilitation, and removal of weariness. This is kind of massage including combination influences to patient’s back and chest by cupping-glasses and massage. However, work of masseur is connected with a big physical stress. Moreover, masseur can make the massage only with one patient by two hands. As a result daily productivity of the masseur is limited. Therefore advanced intelligence carried massage robots are needed for sliding cupping-glass massage, being able to work autonomously without the presence of the masseur. In this paper, a novel approach to a creation of intelligence self-propelled autonomous portable massage robot based on original 2D parallel mechanism is presented. This robot based on triangular parallel structure with 3 d.o.f., called the Triangle, is designed for sliding cupping-glass massage for back and chest. Main massage manipulations of robot are presented along with a description of proposed locomotion algorithms. Locomotion and manipulation experiments are performed by pneumatic prototypes. We examine design principles of the Triangle as future intelligent base block for various rehabilitation and other robotic systems that can self-propelled and self-reconfigure.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.