面向推拿康复机器人的人机交互界面数字建模与动力学研究

Research on digital modeling and dynamics of human⁃computer interaction interface for massage rehabilitation robots

目的采集、分析专业医师推拿手法的运动学、动力学特征,并基于仿人手设计的多功能推拿头,开发一种适用于多种按摩手法、学习专业医师推拿力度曲线的力度柔顺控制算法,以期提供一种实现推拿机器人运动学、动力学复现的方法。方法首先基于传统中医按摩理论,对滚法、揉法、振法进行运动学以及动力学分析,将其动作特征进行抽取解耦,形成多维度的运动学和动力学模式化表达。其次通过推拿手法测定仪以及动作捕捉系统,对专业医师推拿手法动作进行运动学、动力学数据采集。最后基于一款仿人手设计的多功能按摩头,以专业医师推拿手法信息为示教,对推拿手法的空间轨迹、力度曲线进行学习并开发力度柔顺控制算法。结果推拿头和专业医师的滚法力度最大值分别为52.18 N、55.10 N,最小值分别为29.71 N、6.23 N,推拿头推拿过程中力度曲线的波形与专业医师比较接近。推拿头执行揉法力度的平均值、最大值以及最小值相对于专业医师的误差分别为-0.51%、3.58%和-3.56%,推拿头和专业医师推拿力度的标准差、偏度与峭度均十分接近。推拿头和专业医师的振法最大值分别为21.82 N、21.54 N,频率分别为3.67 Hz、14.30 Hz。推拿头与专业医师的上述几种手法的平均力度相对误差均小于10%,力度曲线、推拿力度、频率等动力学特征基本相同。结论本文提出的方法能够有效复现推拿动作的动力学特征,验证了推拿手法的动力学复现的可行性。

Objective To collect and analyze the kinematic and dynamic characteristics of professional physician’s massage technique,to develop a force compliance control algorithm suitable for a variety of massage technique and learning the strength curve based on the massage hand,and to provide a method to realize the kinematics and dynamic reproduction of massage robot.Methods Firstly,the kinematics and dynamics of the rolling method,kneading method and vibration method were analyzed,and the characteristics were extracted and decoupled to form a kinematic and dynamic pattern expression.Secondly,through the massage manipulator and motion capture system,kinematic and dynamic data collection were collected from the movements of expert’s massage manipulation.Finally,based on a multi⁃functional massage hand,the spatial trajectory and strength curve of massage manipulation techniques were learned and a force compliance control algorithm was developed based on the information of expert’s massage techniques.Results The rolling force of the massage head and the professional physician were 52.18 N and 55.10 N,respectively,with the minimum values of 29.71 N and 6.23 N,respectively.The waveform of the force curve of the massage head during the massage process was relatively close to that of the professional physician.The errors of the average,maximum,and minimum values of the massage force performed by the massage head relative to the professional physician were-0.51%,3.58%,and-3.56%,respectively.The standard deviation,skewness,and kurtosis of the massage force of the massage head were very close to those of professional physicians.The vibration force of the massage head and the professional physician were 21.82 N and 21.54 N,respectively,with frequencies of 3.67 Hz and 14.30 Hz.The relative error of the average force between the above⁃mentioned movementes of massage head and those of professional physicians was less than 10%,and the dynamic characteristics such as force curve,massage force,and frequency were basically the same.Conclusions A kinematic and dynamic analysis method is proposed,which can effectively reproduce the dynamic characteristics of massage action by teaching the manual data of experts.