中医推拿手法运动学与动力学特征分析

Analyses of the kinematics and dynamics characteristics of the Chinese medical massage techniques

分析了中医推拿中垂直用力、平面用力及旋转用力的推法、按法、滚法、摩法、揉法、擦法、拍法、振法和击法等九种推拿手法的运动学和动力学,得出了要实现各种手法所需要的自由度数及各个自由度施力的情况、速度大小、动作频率,同时给出了一种可同时完成以上推拿手法的并联机器人机型.为机器人模拟中医推拿手法提供了理论依据.

The kinematics and dynamics characteristics of nine Chinese medical massage techniques including vertical, plane and rotating exerting, such as pushing, pressing, rolling, rubbing, kneading, scrubbing, patting, fluttering and striking methods were studied. The degree of freedom, the orientation, the velocity and the frequency of every massage technique were obtained. At the same time, a kind of massage manipulator that could meet the requirements in massage technique was developed. It provided the theoretical foundation for the manipulator to simulate the Chinese massage techniques.