Abstract
In recent years, the demand for massage robots has increased dramatically in the field of Medical care. Traditional massage robots are mostly rigid robots. Compared with rigid robots, soft robots are more suitable for massage because of their softness and safety. However, the existing soft robots can not provide much output force for massage. In this paper, a flexible-driven multi-parallel soft massage robot with large output force is designed, which can realize two massage techniques, palm-pressing and palm-kneading. The robot is composed of three groups of flexible driving elements in parallel. It has strong adaptability and flexibility in the environment. It can solve the problems of difficult motion control and low output force of traditional soft robots. The kinematics and mechanics of the robot are modeled and analyzed, and the finite element simulation analysis is carried out by using ABAQUS software. The prototype is made and the experimental test platform is set up for experimental verification.
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Acknowledgement
This work was supported in part by the National Key Research and Development Program under Grant 2017YFE0112200, in part by the Natural Science Foundation of Hebei Province under Grant E2018203436, in part by the Science Technology Research of Higher Education of Hebei Province under Grant ZD2018024, and Guangdong Province Jihua Laboratory under Grant Y80311W180.
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Zhao, Y., Wei, H., Li, P., Li, G., Qi, L., Yu, H. (2019). Design and Experimental Study of a New Flexible Driven Parallel Soft Massage Robot. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_46
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DOI: https://doi.org/10.1007/978-3-030-27532-7_46
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