可戴式机器人按摩头，降压减心率效果媲美真人
MiBOT: A head-worn robot that modulates cardiovascular responses through human-like soft massage
- 用气动人工肌肉实现无声柔性按压，模拟真人手法
- 实测使收缩压降2.8毫米汞柱，舒张压降1.7毫米汞柱
- 适合需要放松干预的慢性病人群，如偏头痛患者
按摩疗法对偏头痛和压力相关疾病康复有益。现有机器人多作用于躯干和四肢，头部按摩因驱动适配困难而未被充分探索。本文提出MiBOT——一种可穿戴于头部的按摩机器人，通过两个柔性执行器产生类人触觉运动。其核心设计为静音驱动，采用气动人工肌肉配合压力反馈控制回路实现精准响应。在受控实验中评估了该系统对血压与心率的影响。结果表明，该机械系统产生的量化效果与人工按摩相当：参与者平均收缩压下降2.8 mmHg，舒张压下降1.7 mmHg，心率降低8-10%。
原文摘要 · Abstract (English)
Massage therapy is helpful for the rehabilitation of various diseases, such as headaches caused by migraines and stress. Existing robotic systems have focused on massage therapy on the torso and limbs, but performing massage motions through suitable actuation on a person's head has been a challenge. In this paper, we present MiBOT, a head-worn massage robot that actuates two soft tactors to produce touch motions mimicking human massage. A key design principle behind MiBOT is its silent actuation, which we achieve through pneumatic artificial muscles in conjunction with a controller loop to respond to contact pressure. We evaluated the effectiveness of MiBOT in a controlled study and assessed subjects' blood pressure and heart rate levels while applying MiBOT. We found that our mechanical system generated positive and conclusive quantitative outcomes that are similar to the human-administered massage, decreasing participants' mean systolic and diastolic blood pressure by 2.8 mmHg and 1.7 mmHg, respectively, as well as calming their heart rate by 8-10% on average.
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