机器人按摩靶点自动定位系统设计

The Design of an Automatic Localization System for Massage Target Points on the Waist of a Robot.

利用机器人模拟手法按摩时,按摩位置准确性是机器人重要性能之一。本文设计开发了一种基于磁场强度监测的靶点自动定位系统,主要由软磁体、线性磁传感器、采集处理模块、三轴运动模块和控制软件组成。软磁体嵌入膏药,由康复治疗师敷贴膏药在受试者目标部位,位于按摩指内的线性磁传感器检测磁场强度变化,采集处理模块计算线性磁传感器与软磁体的方位与距离,驱动三轴运动模块使按摩指快速准确到达目标靶点,定位误差不大于5mm,确保了机器人按摩位置的准确性。

One of the important performance indicators of a massage robot when using a simulated technique is the accuracy of the massage location.In this article,a target location system based on magnetic field intensity monitoring was designed and developed,which mainly consists of a soft magnetic body,a linear magnetic sensor,a collection and processing module,a three-axis motion module,and control software.The soft magnetic body is embedded in a plaster,which is applied to the target area of the subject by a rehabilitation therapist.The linear magnetic sensor located in the massage finger detects changes in magnetic field intensity,and the collection and processing module calculates the orientation and distance between the linear sensor and the soft magnetic body.The motion module drives the three-axis motion module to rapidly and accurately reach the target location of the massage finger.The positioning error is no more than 5mm,effectively solving the problem of inaccurate massage positioning in the robot.