Chinese Massage Chair
Most of the foreign patents on massage are about massage chair, such as US20150366746,
US20150157526[15], US20120157899, US20100191160. The functions of this massage chair can achieve the adjustment of body parts, speed adjustment, strength adjustment; back chair, legs care adjustment; massage position adjustment; heating and music playback and so on. However, they do not integrate the theory of Chinese massage.
In patent CN102499850 referred to a gantry type Chinese massage robot. The invention is to solve the problem of lumbar muscle strain which is troubled by people for a long time. It can realize productization. It has two degrees of freedom gantry mechanism and three degrees of freedom humanoid manipulator arm, which can complete the
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Massage hands are pneumatic-driven, massage intensity soft, safe and reliable. But inevitably there will be noise[22]. Beijing Institute of Technology has proposed a flexible massage robot in the patent CN203370084U[23]. The massage robot has four degrees of freedom, consistent with the distribution of the human body arm degrees of freedom. The robot adds a torque elastic transfer module at the joint, which makes the robot passive flexible, it can effectively protect the user. On the other hand, the use of impedance control technology allows the arm to the non-structural environment to produce active compliance, so that the robot can safely complete the work in the work space massage. Its imitation of human design is easy to be accepted. The massage robot is a modular design, easy to install and repair. But the robot looks bulky, in terms of structure and materials to be further improved.
Fig.3 A passive joint Chinese massage robot
A cervical massage robot is refereed to in patent CN104257483A[24]. The Stewart parallel mechanism is used in the robot, which has the advantages of good stability, good dynamic performance, high precision, strong rigidity and large carrying capacity. The robot has a large massage
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