The method of massage and device for its implementation

 

(57) Abstract:

The invention is intended for use in a massage device of the generic type for automatic massage. The technical result consists in the universality of executions of all kinds of massage and on all body parts. Additional technical result is to increase the accuracy of practicing massage movements. The method of massage is carried out by mechanical impact on the surface of the patient's body using massage tool that is moved by the program. Massage tool mounted on the robot arm and perform the movement of the massage tool over the surface of the patient's body, controlling the magnitude of the massage effect. Device for massage includes massage tool, coupled with the possibility of a managed move with the Executive device. The actuating device is designed as a robot arm, equipped with Electromechanical actuators and control system, and a massage tool set connected to the control system, the sensor for measuring the magnitude of the massage effect. 2 C. and 13 C.p. f-crystals, 6 ill.

tvam generic type for programmable automatic massage stroking, by kneading, rubbing, and so on, the Invention is applicable for any type of massage - General and hygiene, sports, medical, cosmetic. In addition, the invention allows to search and the impact on biologically active points.

Still the task of alleviating the work of therapist was solved by using different hardware, as well as through the use of massage couches, armchairs, equipped with a roaming electric massage tool - see , for example, U.S. patent 5385531 (EUROKEYTON SA), publ. 31.01.95.

As the closest analogue is advisable to take massage robot and method of massage, they can be implemented, according to patent document Japan, having publication number 06304217 AND (MITSUHIRO YOKOYAMA), date of publication description - 01.11.94, class A 61 H 7/00. This device is equipped with a control unit located in the casing and designed to control the movement of the base, and includes an actuator movement about an axis, a sliding element, a hydraulic cylinder and a means for implementing digital pressure - simulator finger. Common to the nearest analogue and the claimed invention are also effects on the body surface clout on the program of the control system using actuators. In parts of the instrument are the following: presence of a massage tool, massage actuator and the tool management system. This invention solves the problem of unloading massage and helps to facilitate his work. However, it is non-generic and is intended to perform the mainly point or finger massage. Reconfiguring robot with acupressure massage on the extended sections of the impossible. In addition, in the known invention there is no power control for a massage effect.

The essence of the invention.

It is well known that massage is an effective treatment, namely restores, helps relieve fatigue, and most importantly, contributes to the prevention of many diseases, as an active means of healing the body.

Known massage devices allow for specific types of massage and are not universal means. Thus, for carrying out different types of massage effect requires a large Arsenal of mechanical and electrical devices.

The present invention is directed to solving the problem of alleviating monotonous and heavy the STV for massage based robotic manipulation system (RTS).

RTS in industrial robotics - robotic system, representing industrial robot with a tool to perform basic operations.

Industrial robot comprises a manipulator and a programmable control system.

The manipulator is an iterative mechanism that is moved by an electromagnetic actuator.

The control system is a multiprocessor computing device with software and controllers actuators of the manipulator.

Contour control provides the desired tool path at a given speed.

Technical result achieved as a result of application of the invention lies in the universality of carrying out various types of massage under force control. Additional technical result is to increase the accuracy of practicing massage movements.

The technical result is achieved due to the fact that in the way of massage by mechanical impact on the surface of the patient's body using massage tool massage tool is fixed on the robot arm and carry out Peremena massage effect.

The technical result is reinforced by the fact that pre-set trajectory massage tool, duration, speed, and magnitude of the impact, and the operation is carried out training the robot to the individual patient body surface, and in the process of massage support the value of the massage effect within the specified limits and periodically carry out correction of a program to prevent accidental deviations.

As a robot using an industrial robot with an Electromechanical drive and a contour control system.

As the robot used industrial robot RM-01 management system Sphere-36".

The trajectory of the massage tool set reference points, which for massage on the back are the seventh cervical vertebra and the coccyx.

Device for massage includes massage tool connected to the actuating mechanism with the possibility of a managed move, and differs in that the actuating device is designed as a robot arm, equipped with an Electromechanical actuator, and a massage tool has a sensor for measuring the magnitude of the massage effect, the United States is Ah the surface of the body is a one-component sensor normal component of the force.

A sensor for measuring the magnitude of the impact of massage on the relief surface of the body is chastisement workspace sensor.

Massage tool is fixed on the flange of the manipulator through the connector with the possibility of removal and replacement.

Massage tool is made in the form of a simulator edge of the palm.

Massage tool is made in the form of a simulator plane of the palm.

Massage tool is made in the form dissolved in opposite directions simulator thumb and forefinger.

Massage tool is made in the form of a simulator pads of the thumb.

A sensor for measuring the magnitude of the impact of massage performed using tensometric elements for measuring from one to six component force vectors and moment pasted on the elastic elements.

In the device entered the shutdown feature of the robot arm with inadequate patient's feelings, made in the form of a push button switch or microphone device associated with the control system.

Massage instrument equipped with a means for heating.

Below is an example implementation of the method and the execution device the invention is illustrated by drawings, where in Fig. 1 shows a structural diagram of an apparatus for massage; Fig. 2 - different types of massage tools used in the device of Fig. 3 - a number of designs of sensors for the measurement of the massage effect; Fig. 4 is a block diagram of the interface for connection of two-component sensor to the control system Sphere-36" of Fig. 5 - the learning process of the robot at a nominal patient; Fig. 6 - scheme of maintenance effort during the massage.

A specific example of the invention.

The claimed method of massage it is advisable to use already known and widely used in industry for various purposes robot that does not require significant modification and by minimal transformations regarding the placement of the massage tool and gauge, as well as the interface for communication of the robot with the sensor and associated software is converted into a robotic massage therapist. An example is shown for one type of industrial robot, but the method and apparatus may be implemented using virtually any known industrial robot with a manipulator and a contour control system.

This robot is an industrial robot RCTs manipulator about the same as a person of average height. Develop hand force up to 60 H, maximum contouring speed 1000 mm/s, the positioning error equal to 0.1 mm Arm 1 consists of the upper part 2 of the hands, forearms 3, the brush 4. On the brush 4 to its flange 5 through the connector 6 and the sensor 7, using the tensometric elements pasted on the elastic element (not shown), shift fixed massage tool 8. Movement of the manipulator 1 exercise Electromechanical actuators 11 of the control system 9. The sensor 7 is connected with the control system 9 through a specially designed interface 10 for use of a robot as a massage device.

The software robot is an operating system real-time. Language application programming robot ARPS - robotochitaemoy language allows programming training and analytical calculation.

Interchangeable massage tool 8 is a simulator of the fingers of the masseur or other parts of his hands. In Fig. 2 shows the tools for simulation of kneading, stroking and viimane: (a) simulator pads of the thumb 13, b) simulator ribs of palm 14) simulator plane of the palm 15, g) simulator stretched in the opposite side is 0, 21, W) cone 22 with a ball 23.

Removable tool made in the form as close as possible to the simulated body. For example, replicas of the plane of the palm of the hand 15 is in the form of pads on the size of your palm without fingers, filled with light soft material and covered with suede. "The edge of his hand," 14 is in the form of a wooden or plastic plates, covered with a chamois or soft cloth. For a comfortable perception of patient tools can be heated from the inside by an electric current, heating is widely used in industrial heating elements 12.

For workspace control a robot using sensors 7 different physical nature (Fig. 3). Complete information about the vector forces-moments are multicomponent sensors on the basis of tensometric elements 24. The tensometric elements 24 bonded to the elastic elements and measure the deformation of the order of micrometers that is less than the positioning error of the robot.

When you perform a soft massage movements to ensure the necessary effort possible displacement of the finger a few millimeters. The elastic element of the robot can be not only a base for mounting strain gauges, and a smoothing element. Polynya inductive sensors.

In Fig. 3 shows a number of structures to measure the impact of massage. Structures a), b), C) have a load cell for measuring from one to three components, respectively. By analogy with (a) and (b) design d) and e) is performed on differential transformer elements 25. The dimension of the second components is possible only in the direction of brush movement, lateral displacement is immeasurable. To measure the tangent component can design a) with tensometric elements or structures (e), W), where the elasticity in the tangential direction is ensured by the rubber membrane 26. In design (e) measuring element tangent components is circular contact sensor, and design W) - capacitive 27.

For sensors 7 to the control system 9 uses the interface 10. In Fig. 4 shows a block diagram of the interface for connection of a two-component induction sensor to the main control system 9. The sensor 7 is supplied with AC voltage of 36 V, frequency 50 Hz. The output signal of the sensor for subsequent digitization of the full-wave rectified by the rectifier 28 and is smoothed by the filter 29. The switch 31 in the time division mode connects each component of the sensor to the analog-to-C is Yoda 33 of the control system 9 of the robot RM-01 sets the signal on the line 34 of the control system 10. To determine the moment of approach of the tool to the patient's body before touching is the infrared sensor 36 instrument approach to the patient's body. The sensor is connected to the control system 9 via the input module. It is necessary to improve the performance of robotic massage by increasing the speed of approach to the massaged areas. The sensor signal 36 the approach speed is switched to a lower, which reduces the overshoot by pressing. The detector includes a source of infrared radiation and a receiver, the optical axis which intersect on the patient's body. The reflected light enters the receiver, and a threshold device produces a signal.

For correcting shifts of the patient during the session uses the vision system 37 (see Fig. 1). As a result of processing images of a patient, the system calculates an offset from the nominal. The control system of the robot in accordance with these offsets generates new coordinates of the points that perform the massage trajectory. System 37 includes a video camera connected to a personal computer using Framegrabber) charge in the shopping cart computer to remember Isotta in the control system of the robot.

In the process of massage according to the present invention by using the input device management system Sphere-36" specify the duration and magnitude of the massage effect, and the speed of the operation. The trajectory set by teaching PCT nominal patient (Fig. 5). To do this, on the back of the nominal patient (average, without abrupt deviations from normal physical development) to carry back massage mark five points on four bands along the spine (two lanes one and two on the other side of the spine). Point Academy of Sciences (total of 20) are locked at the touch of a tool with back. They are defined as a combination of a point relative to the point In (C7 - seventh speaker cervical vertebra). Is recorded in the memory also point HN (coccyx). Instrumental the X-axis is oriented along the direction HN - HN. The distance between the points Xn and HN will determine the scale along the axis X. Further, in the memory are recorded two points On and On (acrimony), characterizing the width of the back and therefore the scale along the axis of the U. 20 points along the stripes are recorded to characterize the main features of the relief of the long back muscles. For a nominal patient this item is for each patient.

The orientation and positioning of the individual patient are as follows. When the patient lies in the working area of the robot, it is approximately Orient the spine along the X-axis so that the point HD (the seventh cervical vertebra of the patient) was located approximately near the point HN suggested by the tool of the robot. Write in the memory the new point HD, bringing the instrument to the seventh cervical vertebra of the patient so that the tool X-axis was directed in a straight HD, HD. Next, make the scaling of the patient. In the memory write point Out, HUD owned by this patient and determining the width of his back. Program scale in four new points perform stretching or compression of the coordinates of the point A. the formation of new 20 points Hell.

Learning and education points VD, which is provided by a given force. From every point of Hell (or rather, slightly higher in the direction opposite to the tool axis) tool is lowered until it touches the patient's body and presses to provide software-defined force. This forms a set of points VD. Point VD characterize strain with a preset force to the back surface is time-dependent immobility of the patient. Robot ready for a massage operations on this particular patient.

Stroking. If the point VD obtained with small effort, then the robot interpolating trajectory along these points, your instrument will perform the stroking. This procedure is used mainly simulator plane of the palm, and if the trajectory is small (for small areas and small muscles) - simulator thumb.

Squeezing. Keeping the same path as for the strokes, but increasing the contact force of the tool to the body, the robot will perform the squeezing. This manipulation is carried out using the same imitators plus simulator edge of the palm.

Kneading. If a neighborhood of the point VD is relatively flat and homogeneous elasticity, they build turns kneading with any geometric and speed settings.

Like run training robot and massage on the muscles, perform a massage on any other part of the body surface of the patient. Search for biologically active points is carried out according to the rule of the Chinese tuna. In case of inadequate sensations the patient or push-button switch 35, or voice poor 1 robot. Massage is terminated.

The claimed method was applied in practice for rehabilitation of workers and employees. Below is the data for real patients who have experienced a course of massage with the use of the claimed method and device.

Example 1. Sidorov C. E., 40, engineer-programmer. Before the course massage complaints about back pain, fatigue. Scheduled and conducted a course of 10 sessions of 25 minutes Each session was conducted in the following manner. Before placing the patient in the massage area analyses and diagnostics of electronic and mechanical parts of the device. Produced uploading RAM SU Sphere-36" nominal patient. Set the parameters for a given patient and a given massaged area: type of massage, the type massaged area, the nature of the trajectories, the radius of the spiral at the kneading 5-2 mm, a speed of 0.1-0.5 m/s, the force pressing 5-50 N, the number of repetitions of 20-100. The patient was admitted to the massage area. There was training of reference points. Program SCALE complied with the positioning, orientation, and scaling of the patient, generating the coordinates of the points needed for the program "Learning". According to the program "Learning", founded in SIOUX Sphere-36" refined prior precision is obtained in the mode of "Learning". Massage tool is moved in accordance with the program of the manipulator. Periodically, depending on the immobility of the patient (10 - 100) vision system corrects possible shifts of the patient, and included in this time, the program "Learning" specifies the point with the given effort. After completing the course: the patient has improved, the efficiency high, there was no one irritating factor and inadequate feelings. Stop mode of the pointing device is not used.

Example 2. The patient Ivanov, C. F., 38, worker on an Assembly line. Noted tired back muscles and feet. The number of scheduled sessions 8 to 20 min on the back and 10 min on the feet. The procedure for carrying out the same procedures, except for adjusting the shifts of the patient. In this case, the vision system is not used, the adjustment was carried out in the mode of "Learning" through equal intervals of time. After completion of the course of the massage feel better, performance increased, there was no single case of an emergency stop or negative sensations during the procedure.

1. The way of the massage put the about the program, characterized in that the massage tool mounted on the robot arm and perform the movement of the massage tool over the surface of the patient's body by means of a manipulator of the robot, while controlling the magnitude of the massage effect.

2. The method of massage on p. 1, wherein the pre-set trajectory massage tool, duration, speed, and magnitude of the impact and the operation is carried out training the robot to the individual patient body surface, and in the process of massage support the impact magnitude is within the specified limits and periodically carry out correction of a program to prevent accidental deviations.

3. The method of massage on p. 1, characterized in that the trajectory of the massage tool set of reference points with which to massage the back are the seventh cervical vertebra and the coccyx.

4. Device for massage, containing a massage tool connected to the actuating mechanism with the possibility of a managed move, characterized in that the actuating mechanism is in the form of a robot arm, equipped with Electromechanical actuators and control system, and a massage tool">

5. The device according to p. 4, characterized in that the robot is an industrial robot with an anthropomorphic manipulator with six degrees of freedom and control system.

6. The device according to PP.4 and 5, characterized in that the sensor for measuring the magnitude of massage massage impact on flat areas is a single-component force sensor.

7. The device according to PP.4 and 5, characterized in that the sensor for measuring the magnitude of the impact of massage for relief sites is sectionentry workspace sensor.

8. The device according to p. 4, characterized in that the massage tool is fixed on the flange of the manipulator through the connector with the possibility of removal and replacement.

9. The device according to p. 4, characterized in that the massage tool is made in the form of a simulator edge of the palm.

10. The device according to p. 4, characterized in that the massage tool is made in the form of a simulator plane of the palm.

11. The device according to p. 4, characterized in that the massage tool is made in the form dissolved in the opposite side of simulators thumb and forefinger.

12. The device according to p. 4, characterized in that the massage tool is made in the form and what I value the massage effect is accomplished by using tensometric elements for measuring from one to six component vector of forces/moments pasted on the elastic elements.

14. The device according to p. 4, characterized in that it introduced the shutdown feature of the robot arm with inadequate omissions of the patient, made in the form of a push button switch or microphone device associated with the control system.

15. Device according to one of paragraphs.4 to 14, characterized in that the massage instrument equipped with a means for heating.

 

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