Digital Modeling of Massage Techniques and Reproduction by Robotic Arms

TL;DR

The paper tackles the need for scalable, safe robotic reproduction of traditional Chinese massage techniques by combining data-driven kinematic/dynamic analysis with an adaptive admittance compliant control framework. It builds a multifunctional massage hand integrated with a dual-robot platform, collects expert technique data via motion capture and force sensing, and demonstrates reproduction of Beat, Press, Push, and Vibrate on a soft mannequin with quantitative comparisons. The main contributions are (1) empirical modeling of massage techniques, (2) a compliant control law that adjusts impedance in response to force errors, and (3) experimental validation showing the robot can closely mimic the techniques while acknowledging some deviations in force and frequency. The work paves the way for integrating traditional Chinese massage with modern robotics, enabling safer, adjustable, and scalable assistive therapies.

Abstract

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.

Figures (8)

• Figure 1: Structure of massage hand
• Figure 2: Photograph
• Figure 3: Massage robot
• Figure 5: Optitrack
• Figure 6: Massage axis