Research on the Development of an Abdominal Massage Robot: Diversified Manipulation Strategies and Improved Force Interaction Performance
Abdominal massage for constipation has problems such as high labor costs, insufficient standardization, and large differences in efficacy. This study aims to develop a new type of abdominal massage robot to break through the bottlenecks of manual abdominal massage. This paper constructs a new six-de...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/6/296 |
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| author | Xinyi Tang Ping Shi Hongliu Yu Sujiao Li Xin Xing Zhenjie Luo Junjie Fu |
| author_facet | Xinyi Tang Ping Shi Hongliu Yu Sujiao Li Xin Xing Zhenjie Luo Junjie Fu |
| author_sort | Xinyi Tang |
| collection | DOAJ |
| description | Abdominal massage for constipation has problems such as high labor costs, insufficient standardization, and large differences in efficacy. This study aims to develop a new type of abdominal massage robot to break through the bottlenecks of manual abdominal massage. This paper constructs a new six-degree-of-freedom multi-functional abdominal massage robot system, improves and designs a new series-parallel hybrid mechanical structure, and based on this, establishes an abdominal interaction force control strategy that uses a variable-stiffness physical model to represent the biomechanical properties of the abdomen. Verified by simulation and human experiments, this robot can accurately reproduce a variety of massage techniques, and demonstrate stable force control performance in prosthesis experiments and human abdominal tests, with the interaction force error controlled within 0.8 N, providing an innovative path for the intelligentization and standardization of clinical abdominal massage. |
| format | Article |
| id | doaj-art-e90fe985ad6846169802729e40ee8114 |
| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-e90fe985ad6846169802729e40ee81142025-08-20T03:24:26ZengMDPI AGActuators2076-08252025-06-0114629610.3390/act14060296Research on the Development of an Abdominal Massage Robot: Diversified Manipulation Strategies and Improved Force Interaction PerformanceXinyi Tang0Ping Shi1Hongliu Yu2Sujiao Li3Xin Xing4Zhenjie Luo5Junjie Fu6Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaAbdominal massage for constipation has problems such as high labor costs, insufficient standardization, and large differences in efficacy. This study aims to develop a new type of abdominal massage robot to break through the bottlenecks of manual abdominal massage. This paper constructs a new six-degree-of-freedom multi-functional abdominal massage robot system, improves and designs a new series-parallel hybrid mechanical structure, and based on this, establishes an abdominal interaction force control strategy that uses a variable-stiffness physical model to represent the biomechanical properties of the abdomen. Verified by simulation and human experiments, this robot can accurately reproduce a variety of massage techniques, and demonstrate stable force control performance in prosthesis experiments and human abdominal tests, with the interaction force error controlled within 0.8 N, providing an innovative path for the intelligentization and standardization of clinical abdominal massage.https://www.mdpi.com/2076-0825/14/6/296constipationabdominal massagemassage robotadmittance control |
| spellingShingle | Xinyi Tang Ping Shi Hongliu Yu Sujiao Li Xin Xing Zhenjie Luo Junjie Fu Research on the Development of an Abdominal Massage Robot: Diversified Manipulation Strategies and Improved Force Interaction Performance Actuators constipation abdominal massage massage robot admittance control |
| title | Research on the Development of an Abdominal Massage Robot: Diversified Manipulation Strategies and Improved Force Interaction Performance |
| title_full | Research on the Development of an Abdominal Massage Robot: Diversified Manipulation Strategies and Improved Force Interaction Performance |
| title_fullStr | Research on the Development of an Abdominal Massage Robot: Diversified Manipulation Strategies and Improved Force Interaction Performance |
| title_full_unstemmed | Research on the Development of an Abdominal Massage Robot: Diversified Manipulation Strategies and Improved Force Interaction Performance |
| title_short | Research on the Development of an Abdominal Massage Robot: Diversified Manipulation Strategies and Improved Force Interaction Performance |
| title_sort | research on the development of an abdominal massage robot diversified manipulation strategies and improved force interaction performance |
| topic | constipation abdominal massage massage robot admittance control |
| url | https://www.mdpi.com/2076-0825/14/6/296 |
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