CN106890082A - Intelligence is attacked a vital point manipulator - Google Patents
Intelligence is attacked a vital point manipulator Download PDFInfo
- Publication number
- CN106890082A CN106890082A CN201710140345.0A CN201710140345A CN106890082A CN 106890082 A CN106890082 A CN 106890082A CN 201710140345 A CN201710140345 A CN 201710140345A CN 106890082 A CN106890082 A CN 106890082A
- Authority
- CN
- China
- Prior art keywords
- vital point
- attacking
- attacked
- intelligent controller
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/02—Devices for locating such points
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1481—Special movement conversion means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
Abstract
The invention discloses a kind of intelligent manipulator of attacking a vital point, including：At least one attacks a vital point head；The head of attacking a vital point is driven by motion of attacking a vital point, and the motion of attacking a vital point is connected with intelligent controller.Implement the embodiment of the present invention, the gimmick of attacking a vital point being combined into by least one of translation, rotation and vibration can be done；Can be connected with terminal, be operated according to end command, or be independently operated and man-machine interaction in the case where terminal is not connected to；Intelligent controller can simultaneously control multiple manipulators, can simultaneously perform multiple and attack a vital point operation；Intelligent controller can determine the position of human acupoint by camera, and then manipulator is navigated to acupuncture point by control machinery arm；Intelligent controller can carry out human-computer dialogue interaction by audible device and speech recognition apparatus；Intelligent controller can be measured by various sensors and record human body information, and adjust automatically is attacked a vital point dynamics；Intelligent controller can be by energy emitter emitted energy.
Description
Technical field
The present invention relates to manipulator field of attacking a vital point, more particularly to a kind of intelligent manipulator of attacking a vital point.
Background technology
Attack a vital point be with finger on human acupoint by rubbing, press, point, the manipulation disease such as beat, the traditional Chinese medical science is thought in human body
Implement various gimmicks of attacking a vital point on acupuncture point, good therapeutic effect can be reached.
Attack a vital point and differred primarily in that with massage：Acupoint selection is different, gimmick is different.Attack a vital point with the point-like acupuncture point of small area and be
It is main, and massage is then based on the body surface of the linear acupuncture point of strip or large area；Both gimmicks also a great difference, attack a vital point with
Rub and turn and based on pressing, simulation be in acupuncture it is twisted and it is slotting propose operation, and massage mainly to push away, by, the gimmick such as transport and be
It is main.Existing massage equipment is a lot, but equipment of attacking a vital point is little.
Artificial attacking a vital point can accomplish various gimmicks, but different people's gimmick is nonstandard, easy error, and therapeutic effect is because of people
And it is different, cannot ensure, and expend a large amount of manpowers.
Existing electronic acupoint device is to put the iron core column with head of attacking a vital point to realize what is attacked a vital point using electromagnet suction, although
Manpower is saved, but does not accomplish various gimmicks, and gimmick is coarse, start and stop are too unexpected, have larger difference with the gimmick of artificial smooth
Away from.Therefore, preferable therapeutic effect is not reached.In addition, the head of attacking a vital point on existing acupoint pressing device is all mostly spherical or column,
It is different from the sensation that finger is attacked a vital point.
The content of the invention
The purpose of the embodiment of the present invention is the intelligent manipulator of attacking a vital point of the one kind for proposing, can do by translation, rotation and vibrate
At least one of the gimmick of attacking a vital point that is combined into, and the smooth as artificial gimmick can be accomplished, more can be than artificial gimmick mark
It is accurate, do not malfunction, or even also realizing of being difficult to of some artificial gimmicks；Can be connected with terminal, be carried out according to end command
Work, or be independently operated and man-machine interaction in the case where terminal is not connected to, according to the formula point of attacking a vital point that user specifies
Cave, or attacked a vital point again according to the automatic formula of attacking a vital point that is given of the state of an illness or demand of user；Intelligent controller can be controlled simultaneously
Multiple manipulators, can simultaneously perform multiple and attack a vital point operation；Intelligent controller can determine the position of human acupoint by camera
Put, then manipulator is navigated to acupuncture point by control machinery arm；Intelligent controller can by audible device and speech recognition apparatus,
Carry out human-computer dialogue interaction；Intelligent controller can be measured by various sensors and record human body information, according to mechanical hand pressure
Firmly the pressure of human body skin and human body contractile response adjust automatically are attacked a vital point dynamics；Intelligent controller can be sent out by energy emitter
Penetrate energy.
To achieve the above object, the embodiment of the present invention provides a kind of intelligent manipulator of attacking a vital point, including：1 cave-head
Portion；The head of attacking a vital point is driven by motion of attacking a vital point, and the motion of attacking a vital point is connected with intelligent controller.
Further, the motion of attacking a vital point at least including translation mechanism, rotating mechanism and vibrating mechanism single or
Multiple combinations；
When gimmick of attacking a vital point is to stretch, the intelligent controller controls translational head of being attacked a vital point described in the translation mechanism drive
Motion；
When gimmick of attacking a vital point is to rotate, the intelligent controller controls end rotation of being attacked a vital point described in the rotating mechanism drive
Motion；
When gimmick of attacking a vital point is for vibration, head of being attacked a vital point described in the intelligent controller control vibrating mechanism drive shakes
It is dynamic.
Further, the translation mechanism, rotating mechanism include feed screw nut's assembly, translation motor and rotary electric machine；Institute
The screw mandrel for stating feed screw nut's assembly is connected with the translation motor, and the nut of the feed screw nut's assembly connects with the rotary electric machine
Connect, head of being attacked a vital point described in the rotary electric machine connection.The vibrating mechanism is vibrating reed, is arranged on described attacking a vital point in head.
Further, the translation mechanism, rotating mechanism, vibrating mechanism are all mechanical arm, and the head of attacking a vital point is connected to
The mechanical arm tail end, the intelligent controller controls whole manipulator motion, realizes that end translation is stretched and attacks a vital point；Control is whole
Individual manipulator motion, realizes that end is attacked a vital point around ringlet i.e. rotation；Control whole mechanical arm to vibrate, realize tip vibration i.e. oscillation point
Cave.
Further, also including support, the support is travel(l)ing rest, and the intelligence attacks a vital point manipulator installed in activity branch
Frame end；Or, the support is mechanical arm, and the intelligence attacks a vital point manipulator installed in mechanical arm tail end, the Based Intelligent Control
Described intelligence manipulator of attacking a vital point can be navigated to acupuncture point by device with control machinery arm.
Further, the intelligent controller can be provided with various ancillary equipment, at least including display screen, keyboard mouse
Mark, storage medium, terminal interface, network interface, camera, audible device and speech recognition apparatus；
The storage medium can store related content of attacking a vital point and for example attack a vital point formula；
The intelligent controller can be used for being connected with terminal or network connection.
The human body image that the intelligent controller can shoot according to the camera, it is true by three-dimensional identification location algorithm
Determine the position of human acupoint.
The intelligent controller can control the audible device and the speech recognition apparatus, send musical sound and say
Words, identification true man speak, and carry out human-computer dialogue interaction.
Further, the head of attacking a vital point can be provided with various sensors, at least including pressure, temperature, blood pressure and arteries and veins
Fight sensor, the pressure, temperature, blood pressure and pulse sensor are connected with the intelligent controller.
Further, the head of attacking a vital point can be provided with energy emitter, the energy emitter and the intelligence control
Device connection processed.
Further, the head of attacking a vital point is for Bionic fingers.
Implement the embodiment of the present invention, have the advantages that：
The embodiment of the present invention due to using motor as power, can control that it is flexible by intelligent controller (namely
Attack a vital point and press) speed and distance, can also accomplish to stretch different with the speed of contracting；Rotary electric machine can also control its rotating speed speed
It is adjustable；It is to adopt to be made of resin the emulation finger with certain elasticity plus Bionic fingers, so that it may accomplish gimmick smooth, mark
It is accurate, do not malfunction, this makes it possible to implement various gimmicks of attacking a vital point on human acupoint, can reach good therapeutic effect；
Purpose of multiple manipulators with time point multiple acupuncture point can be realized, efficiency of attacking a vital point is improved；Can realize being automatically positioned acupuncture point and from
The automation of the dynamic whole process of attacking a vital point of gimmick etc. of attacking a vital point, saves manpower；Man-machine interaction can be carried out to improve treatment；Can survey
Amount records human body information to analyze treatment；Work((emitted energy) can be got angry to strengthen therapeutic effect.
Brief description of the drawings
Fig. 1 be the present invention provide intelligence attack a vital point manipulator embodiment one structural representation；
Fig. 2 be the present invention provide intelligence attack a vital point manipulator embodiment two structural representation；
Fig. 3 be the present invention provide intelligence attack a vital point manipulator embodiment three structural representation.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, be intelligence that the present invention is provided attack a vital point manipulator embodiment one structural representation；The present invention is implemented
The intelligence that example one is provided is attacked a vital point manipulator, including：At least one attacks a vital point head 10；The head 10 of attacking a vital point is by motion of attacking a vital point
20 drive, and the motion 20 of attacking a vital point is connected with intelligent controller 30.
Further, the motion 20 of attacking a vital point is at least single including translation mechanism, rotating mechanism and vibrating mechanism
Or the combination of multiple；
When attack a vital point gimmick for it is flexible when, the intelligent controller 30 controls the translation mechanism to drive the head of attacking a vital point flat
Shifting movement；
When gimmick of attacking a vital point is to rotate, the intelligent controller 30 controls head rotation of being attacked a vital point described in the rotating mechanism drive
Transhipment is dynamic；
When gimmick of attacking a vital point is for vibration, the intelligent controller 30 control the vibrating mechanism drive described in head of attacking a vital point shake
It is dynamic.
As shown in figure 1, the translation mechanism, rotating mechanism include feed screw nut's assembly 21, translation motor 22 and rotate electricity
Machine 23；The screw mandrel of the feed screw nut's assembly 21 is connected with the translation motor 22, the nut of the feed screw nut's assembly 21 with
The rotary electric machine 23 is connected, and the rotary electric machine 23 connects the head 10 of attacking a vital point.The vibrating mechanism is vibrating reed 24, if
Put and attacked a vital point in head 10 described.
Referring to Fig. 2, be intelligence that the present invention is provided attack a vital point manipulator embodiment two structural representation, the present invention implemented
The intelligence that example two is provided is attacked a vital point manipulator, including：At least one attacks a vital point head 10；The head 10 of attacking a vital point is by motion of attacking a vital point
20 drive, and the motion 20 of attacking a vital point is connected with intelligent controller 30.
Further, the motion 20 of attacking a vital point is at least single including translation mechanism, rotating mechanism and vibrating mechanism
Or the combination of multiple；
When attack a vital point gimmick for it is flexible when, the intelligent controller 30 controls the translation mechanism to drive the head of attacking a vital point flat
Shifting movement；
When gimmick of attacking a vital point is to rotate, the intelligent controller 30 controls head rotation of being attacked a vital point described in the rotating mechanism drive
Transhipment is dynamic；
When gimmick of attacking a vital point is for vibration, the intelligent controller 30 control the vibrating mechanism drive described in head of attacking a vital point shake
It is dynamic.
As shown in Fig. 2 the translation mechanism, rotating mechanism, vibrating mechanism are all mechanical arm 40, the head 10 of attacking a vital point connects
The mechanical arm tail end is connected on, the intelligent controller controls whole manipulator motion, realizes that end translation is stretched and attack a vital point；Control
Whole manipulator motion is made, realizes that end is attacked a vital point around ringlet i.e. rotation；Control whole mechanical arm to vibrate, realize that tip vibration is shaken
Moving point cave.
Referring to Fig. 3, be intelligence that the present invention is provided attack a vital point manipulator embodiment three structural representation；The present invention is implemented
The intelligence that example three is provided is attacked a vital point manipulator, and on the basis of embodiment one, also including support 50, the support 50 is propped up for activity
Frame, the intelligence attacks a vital point manipulator installed in travel(l)ing rest end；Or, the support 50 is mechanical arm 40, the intelligent point
Cave manipulator is arranged on mechanical arm tail end, and the intelligent controller 30 can be attacked a vital point manipulator described intelligence with control machinery arm
Navigate to acupuncture point.
Further, on the basis of above-mentioned three kinds of embodiments, the intelligent controller 30 can be provided with various peripheries
Equipment, at least including display screen, keyboard and mouse, storage medium, terminal interface, network interface, camera, audible device and voice
Identification equipment；
The storage medium can store related content of attacking a vital point and for example attack a vital point formula；
The intelligent controller 30 can be used for being connected with terminal or network connection.
The human body image that the intelligent controller 30 can shoot according to the camera, by three-dimensional identification location algorithm
Determine the position of human acupoint.
The intelligent controller 30 can control the audible device and the speech recognition apparatus, send musical sound and say
Words, identification true man speak, and carry out human-computer dialogue interaction.
Further, the head 10 of attacking a vital point can be provided with various sensors, at least including pressure, temperature, blood pressure and
Pulse transducer, the pressure, temperature, blood pressure and pulse sensor are connected with the intelligent controller 30.
Further, the head 10 of attacking a vital point can be provided with energy emitter, the energy emitter and the intelligence
Controller 30 is connected.
Further, the head 10 of attacking a vital point is for Bionic fingers.
Intelligence provided in an embodiment of the present invention is attacked a vital point manipulator, can be done by translation, be rotated and at least one of vibration group
The gimmick of attacking a vital point of synthesis, and can accomplish the smooth as artificial gimmick, more can than artificial gimmick standard, do not malfunction, very
Can also be realized to what some artificial gimmicks were difficult to；Can be connected with terminal, be operated according to end command, or not
Connection terminal in the case of be independently operated and man-machine interaction, the formula of attacking a vital point specified according to user is attacked a vital point, or according to
The automatic formula of attacking a vital point that is given of the state of an illness or demand at family is attacked a vital point again；Intelligent controller can simultaneously control multiple manipulators, energy
Enough operations while execution multiple is attacked a vital point；Intelligent controller can determine the position of human acupoint by camera, then control machine
Manipulator is navigated to acupuncture point by tool arm；Intelligent controller can carry out human-computer dialogue by audible device and speech recognition apparatus
Interaction；Intelligent controller can be measured by various sensors and record human body information, and human body skin is pushed down according to manipulator
Pressure and human body contractile response adjust automatically are attacked a vital point dynamics；Intelligent controller can be by energy emitter emitted energy.
One of ordinary skill in the art will appreciate that：The all or part of flow in above-described embodiment method is realized, being can
Completed with controlling the hardware of correlation by computer program, described program can be stored in embodied on computer readable storage and be situated between
In matter, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be
Magnetic disc, CD, read-only memory (ROM) or random access memory (RAM) etc..
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (9)
1. a kind of intelligence is attacked a vital point manipulator, it is characterised in that including：At least one attacks a vital point head；The head of attacking a vital point is by attacking a vital point
Motion drives, and the motion of attacking a vital point is connected with intelligent controller.
2. intelligence as claimed in claim 1 is attacked a vital point manipulator, it is characterised in that the motion of attacking a vital point at least includes translation
The single or multiple combination of mechanism, rotating mechanism and vibrating mechanism；
When gimmick of attacking a vital point is to stretch, the intelligent controller controls translational head fortune of being attacked a vital point described in the translation mechanism drive
It is dynamic；
When gimmick of attacking a vital point is to rotate, the intelligent controller controls end rotation fortune of being attacked a vital point described in the rotating mechanism drive
It is dynamic；
When gimmick of attacking a vital point is for vibration, the intelligent controller controls head vibration of being attacked a vital point described in the vibrating mechanism drive.
3. intelligence as claimed in claim 2 is attacked a vital point manipulator, it is characterised in that the translation mechanism, rotating mechanism include silk
Stem nut component, translation motor and rotary electric machine；The screw mandrel of the feed screw nut's assembly is connected with the translation motor, the silk
The nut of stem nut component is connected with the rotary electric machine, head of being attacked a vital point described in the rotary electric machine connection；The vibrating mechanism
It is vibrating reed, is arranged on described attacking a vital point in head.
4. intelligence as claimed in claim 2 is attacked a vital point manipulator, it is characterised in that the translation mechanism, rotating mechanism, bobbing machine
Structure is all mechanical arm, and the head of attacking a vital point is connected to the mechanical arm tail end, and the intelligent controller controls whole mechanical arm fortune
It is dynamic, realize that end translation is stretched and attack a vital point；Whole manipulator motion is controlled, realizes that end is attacked a vital point around ringlet i.e. rotation；Control is whole
Individual mechanical arm vibration, realizes that tip vibration i.e. vibration is attacked a vital point.
5. intelligence as claimed in claim 3 is attacked a vital point manipulator, it is characterised in that also including support, the support is propped up for activity
Frame, the intelligence attacks a vital point manipulator installed in travel(l)ing rest end；Or, the support is mechanical arm, and the intelligence is attacked a vital point machine
Tool hand is arranged on mechanical arm tail end, and the intelligent controller can be navigated to described intelligence manipulator of attacking a vital point with control machinery arm
Acupuncture point.
6. intelligence as claimed in claim 1 is attacked a vital point manipulator, it is characterised in that the intelligent controller can be provided with various
Ancillary equipment, at least including display screen, keyboard and mouse, storage medium, terminal interface, network interface, camera, audible device and
Speech recognition apparatus；
The storage medium can store related content of attacking a vital point and for example attack a vital point formula；
The intelligent controller can be used for being connected with terminal or network connection；
The human body image that the intelligent controller can shoot according to the camera, people is determined by three-dimensional identification location algorithm
The position at body acupuncture point；
The intelligent controller can control the audible device and the speech recognition apparatus, send musical sound and speak, and know
Other true man speak, and carry out human-computer dialogue interaction.
7. intelligence as claimed in claim 1 is attacked a vital point manipulator, it is characterised in that the head of attacking a vital point can be provided with various biographies
Sensor, at least including pressure, temperature, blood pressure and pulse sensor, the pressure, temperature, blood pressure and pulse sensor with it is described
Intelligent controller is connected.
8. intelligence as claimed in claim 1 is attacked a vital point manipulator, it is characterised in that the head of attacking a vital point can be provided with energy hair
Emitter, the energy emitter is connected with the intelligent controller.
9. intelligence as claimed in claim 1 is attacked a vital point manipulator, it is characterised in that the head of attacking a vital point is for Bionic fingers.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016101376340 | 2016-03-10 | ||
| CN201610137634.0A CN105662838A (en) | 2016-03-10 | 2016-03-10 | Intelligent acupoint-pressing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106890082A true CN106890082A (en) | 2017-06-27 |
Family
ID=56308117
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610137634.0A Pending CN105662838A (en) | 2016-03-10 | 2016-03-10 | Intelligent acupoint-pressing manipulator |
| CN201710140345.0A Pending CN106890082A (en) | 2016-03-10 | 2017-03-10 | Intelligence is attacked a vital point manipulator |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610137634.0A Pending CN105662838A (en) | 2016-03-10 | 2016-03-10 | Intelligent acupoint-pressing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN105662838A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107456378A (en) * | 2017-08-07 | 2017-12-12 | 于瑞晓 | A kind of Novel neurological clinical treatment device |
| CN108420412A (en) * | 2018-03-29 | 2018-08-21 | 上海大学 | A kind of pulse information acquisition system based on Dextrous Hand |
| CN108703876A (en) * | 2018-05-04 | 2018-10-26 | 迈博知识产权代理秦皇岛有限公司 | A kind of pneumatic massage chair |
| CN109316347A (en) * | 2018-11-28 | 2019-02-12 | 南昌大学 | A kind of moxibustion instrument end effector |
| CN109512647A (en) * | 2018-12-29 | 2019-03-26 | 南昌大学 | A kind of self contained force feedback multidimensional massage robot system |
| CN111053530A (en) * | 2018-10-16 | 2020-04-24 | 艾特瑞特私人投资有限公司 | Method and system for locating a position within a human body |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007021154A (en) * | 2005-07-15 | 2007-02-01 | Masao Ikeo | Pressing device for various parts of human body |
| CN200948227Y (en) * | 2006-08-11 | 2007-09-19 | 刘明刚 | Physical therapy machine for massaging the whole body |
| CN101340880A (en) * | 2005-12-19 | 2009-01-07 | 皇家飞利浦电子股份有限公司 | Skin stimulation device and a method and computer program product for detecting a skin stimulation location |
| CN102499850A (en) * | 2011-10-12 | 2012-06-20 | 北京航空航天大学 | Chinese medical massage robot |
| CN203694079U (en) * | 2013-12-12 | 2014-07-09 | 张军 | Master-slave massage robot |
| CN104606035A (en) * | 2015-02-06 | 2015-05-13 | 安徽理工大学 | Three-degree-of-freedom series-parallel type robot for traditional Chinese medicine manipulation and massage |
-
2016
- 2016-03-10 CN CN201610137634.0A patent/CN105662838A/en active Pending
-
2017
- 2017-03-10 CN CN201710140345.0A patent/CN106890082A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007021154A (en) * | 2005-07-15 | 2007-02-01 | Masao Ikeo | Pressing device for various parts of human body |
| CN101340880A (en) * | 2005-12-19 | 2009-01-07 | 皇家飞利浦电子股份有限公司 | Skin stimulation device and a method and computer program product for detecting a skin stimulation location |
| CN200948227Y (en) * | 2006-08-11 | 2007-09-19 | 刘明刚 | Physical therapy machine for massaging the whole body |
| CN102499850A (en) * | 2011-10-12 | 2012-06-20 | 北京航空航天大学 | Chinese medical massage robot |
| CN203694079U (en) * | 2013-12-12 | 2014-07-09 | 张军 | Master-slave massage robot |
| CN104606035A (en) * | 2015-02-06 | 2015-05-13 | 安徽理工大学 | Three-degree-of-freedom series-parallel type robot for traditional Chinese medicine manipulation and massage |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107456378A (en) * | 2017-08-07 | 2017-12-12 | 于瑞晓 | A kind of Novel neurological clinical treatment device |
| CN108420412A (en) * | 2018-03-29 | 2018-08-21 | 上海大学 | A kind of pulse information acquisition system based on Dextrous Hand |
| CN108703876A (en) * | 2018-05-04 | 2018-10-26 | 迈博知识产权代理秦皇岛有限公司 | A kind of pneumatic massage chair |
| CN111053530A (en) * | 2018-10-16 | 2020-04-24 | 艾特瑞特私人投资有限公司 | Method and system for locating a position within a human body |
| CN111053530B (en) * | 2018-10-16 | 2024-01-30 | 艾特瑞特私人投资有限公司 | Method and system for locating position in human body |
| CN109316347A (en) * | 2018-11-28 | 2019-02-12 | 南昌大学 | A kind of moxibustion instrument end effector |
| CN109316347B (en) * | 2018-11-28 | 2023-05-30 | 南昌大学 | Moxibustion instrument end effector |
| CN109512647A (en) * | 2018-12-29 | 2019-03-26 | 南昌大学 | A kind of self contained force feedback multidimensional massage robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105662838A (en) | 2016-06-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106890082A (en) | Intelligence is attacked a vital point manipulator | |
| CN102058466B (en) | Chinese massage robot | |
| US6585668B2 (en) | Human touch massager | |
| Giullian et al. | Detailed requirements for robots in autism therapy | |
| CN105653014B (en) | Weakening with tactile prevents the peripheral equipment of component | |
| CN102274107B (en) | Fixed exoskeleton rehabilitation training manipulator | |
| CN100341476C (en) | Computer-controlled acupuncture manipulation instrument | |
| CN206577357U (en) | A kind of Chinese chess Chinese-chess robot | |
| CN1759822A (en) | Massage method of intelligent initiative type appliance and massage robot | |
| CN111531562A (en) | Konghou playing robot | |
| CN105701196A (en) | Intelligent robot oriented audio processing method and intelligent robot | |
| Luces et al. | A phantom-sensation based paradigm for continuous vibrotactile wrist guidance in two-dimensional space | |
| CN202168922U (en) | Fixed exoskeleton rehabilitation training manipulator | |
| CN106943300A (en) | The method and system of acupuncture therapeutic health care body shaping | |
| CN104856858B (en) | Teaching and playback massage manipulator | |
| Hanson et al. | A neuro-symbolic humanlike arm controller for sophia the robot | |
| CN107960993A (en) | A kind of holographic intelligent pulse condition robot | |
| CN106264806A (en) | A kind of simulation manipulator and control method | |
| CN102880080A (en) | Somatosensory interaction method for bionic fish | |
| WO2023236416A1 (en) | Fingertip texture tactile feedback device based on airbag driving | |
| JP2019079518A (en) | Systems and methods for multi-degree-of-freedom shape changing devices | |
| CN107334197A (en) | A kind of finger cot type haptic gloves and preparation method that clamping force feeling is provided | |
| Li et al. | An EEG based control system for intelligent wheelchair | |
| CN208892557U (en) | A kind of holographic intelligent pulse condition robot | |
| CN210121851U (en) | Robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170627 |
|
| RJ01 | Rejection of invention patent application after publication |