用机器人复现中医推拿，实现安全舒适力控
Digital Modeling of Massage Techniques and Reproduction by Robotic Arms
- 采用自适应阻抗控制优化力与位置协同
- 成功还原中医推拿动作特征与力度变化
- 适合康复医疗与传统疗法数字化应用
本文研究中医推拿技术的数字建模与机器人复现。通过自适应阻抗控制算法优化力与位置控制，确保操作安全与舒适。从运动学与动力学角度分析关键中医推拿技法，并设计相应机器人系统进行再现。实验结果表明，该机器人能有效模拟中医推拿的特征，为传统疗法与现代机器人技术融合提供基础，拓展辅助治疗的应用场景。
原文摘要 · Abstract (English)
This paper explores the digital modeling and robotic reproduction of traditional Chinese medicine (TCM) massage techniques. We adopt an adaptive admittance control algorithm to optimize force and position control, ensuring safety and comfort. The paper analyzes key TCM techniques from kinematic and dynamic perspectives, and designs robotic systems to reproduce these massage techniques. The results demonstrate that the robot successfully mimics the characteristics of TCM massage, providing a foundation for integrating traditional therapy with modern robotics and expanding assistive therapy applications.
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