WO2008041457A1 - Robot de massage, programme de commande associé et robot permettant de spécifier une partie du corps humain - Google Patents

Robot de massage, programme de commande associé et robot permettant de spécifier une partie du corps humain Download PDF

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Publication number
WO2008041457A1
WO2008041457A1 PCT/JP2007/067745 JP2007067745W WO2008041457A1 WO 2008041457 A1 WO2008041457 A1 WO 2008041457A1 JP 2007067745 W JP2007067745 W JP 2007067745W WO 2008041457 A1 WO2008041457 A1 WO 2008041457A1
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WO
WIPO (PCT)
Prior art keywords
contact
massage
body surface
arm
function
Prior art date
Application number
PCT/JP2007/067745
Other languages
English (en)
Japanese (ja)
Inventor
Atsuo Takanishi
Akitoshi Katsumata
Yuichi Usuda
Hiroki Koga
Masao Matsuno
Yu Ogura
Hiroyuki Ishii
Jorge Solis
Original Assignee
Waseda University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Waseda University filed Critical Waseda University
Priority to JP2008537442A priority Critical patent/JP5097907B2/ja
Publication of WO2008041457A1 publication Critical patent/WO2008041457A1/fr

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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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1604—Head
    • 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
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • A61H2201/1669—Movement of interface, i.e. force application means linear moving along the body in a reciprocating manner
    • 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
    • A61H2201/5058—Sensors or detectors
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/02—Head

Definitions

  • the present invention relates to a robot that automatically massages a specified target part, a control program thereof, and a robot that automatically finds and specifies a massage target part such as a salivary gland in a face.
  • the salivary gland consists of three types of organs that exist inside the epidermis (skin) of the face, specifically, the parotid gland that exists inside the parotid region and the tongue that exists inside the middle of the jaw. It consists of the inferior gland and the submandibular gland present in the vicinity of the left and right sides of the jaw.
  • Patent Document 1 discloses a pine surge device for performing salivary gland massage on a dry mouse.
  • This massage apparatus includes a support base on which the user's chin is placed, a clamping arm located on both the left and right sides of the user's face, and the support base and the clamping arm. And a plurality of fir balls that stimulate the parotid gland, the sublingual gland and the submandibular gland of the user by the rotation of the motor.
  • the user places the lower part of the chin on the support base so that the fir tree ball provided on the support base hits the sublingual line, and positions each holding arm while approaching it according to the width of the user's face.
  • each rice ball is rotated by driving a motor to stimulate the parotid gland, sublingual gland and submandibular gland.
  • Patent Document 1 Japanese Patent Laid-Open No. 2006-115906
  • the massage device disclosed in Patent Document 1 is insufficient to obtain an effect comparable to a human massage performed by a practitioner such as a doctor. That is, in the massage device, the position of the sublingual gland is found by the user's own judgment, and the jaw should be placed on the support base so that the portion corresponding to the sublingual gland determined by the user hits the ball of the support base. I must. In addition, since the relative position of each mash ball that stimulates each salivary gland cannot be freely adjusted, the position of each mash ball with respect to the face portion including both the left and right sides is substantially reduced when the chin is placed on the support base. Will be made.
  • the surface and internal structure of the force facial part are complex and have large individual differences, and the salivary glands and masticatory muscles are smaller than the organs in the trunk, so they cannot be easily found from outside the body. Therefore, with the massage device, it is impossible for all users to effectively stimulate each salivary gland that is difficult to accurately apply each fir ball to each salivary gland that varies in position and size. . In particular, for users unfamiliar with this massage device, it becomes more difficult to place the jaw on the support base so that the sublingual gland will surely hit the support ball of the support base, and the above-mentioned inconvenience will be more noticeable. Become
  • the massage device only a certain movement that the kneading balls are rotationally driven at a fixed position can be obtained, and the massage trajectory cannot be adjusted according to the position, size, etc. of each salivary gland. It is clearly inferior to the massage effect.
  • the parotid gland is massaged to promote the secretion of saliva, and the saliva is squeezed in the mouth direction along the parotid duct that leads from the parotid gland to the mouth.
  • the present invention has been devised by paying attention to such a problem, and its purpose is close to the massage performed by the practitioner for the part to be massaged! Is to provide a massage robot capable of automatically performing a simple massage, its control program, and a body part specifying robot.
  • a massage robot includes a contact that contacts a user's body surface, an arm that moves in a predetermined space while holding the contact, A sensor capable of measuring a reaction force from the body surface due to contact of the contact, and a control device for controlling the operation of the arm;
  • the control device detects a massage target part in the body surface based on measurement of the sensor, and specifies a massage target part, and a massage specified by the part specification function.
  • a configuration is adopted in which the contact portion is provided with a massage operation control function for causing the contactor to perform a predetermined pine surge operation.
  • the part specifying function operates the arm so that the contact moves while moving up and down in a predetermined area of the body surface, and for each part of the predetermined area,
  • the viscoelastic value is obtained from the vertical displacement and velocity of the contact and the measured value of the sensor, and the biological region to which each part belongs is determined from the viscoelastic value for each biological region stored in advance.
  • a configuration corresponding to a preset body part to be massaged is set as the body part to be massaged is adopted.
  • control device further comprises a shape detection function for detecting the shape of the body surface based on the measurement value of the sensor,
  • the part specifying function is used in combination with a configuration in which the arm is operated along the shape obtained by the shape detection function.
  • the shape detection function operates the arm so that the contact moves with a substantially constant pressing force on a virtual body surface set in advance. If the measured value of the sensor does not substantially match the predetermined set value, the arm is moved so that the measurement and the setting are substantially matched by moving the contact up and down.
  • the configuration is such that the shape of the body surface is determined so that each position of the contact when the measured value and the set value substantially coincide with each other is located on the detected body surface.
  • the massage robot controls a contactor that contacts the user's body surface, an arm that moves in a predetermined space while holding the contactor, and an operation of the arm. And a control device that
  • the control device includes a trajectory creation function for creating a trajectory for moving the contact within a predetermined region of the body surface, and the set pressure with a predetermined magnitude while the contact moves along the trajectory.
  • a massage operation control function for causing the contactor to perform a massage operation so as to press the body surface;
  • the trajectory creation function includes a storage unit in which predetermined data is stored in advance, and a feature point for obtaining elastic deformation amounts of a plurality of feature points arbitrarily set for each predetermined living body region on the outer shape line of the body surface.
  • the storage unit stores, for each living body region, data on the amount of elastic deformation of the body surface with respect to the pressing force of the contact,
  • the feature point deformation amount calculation unit obtains the elastic deformation amount corresponding to the set pressing force for each feature point based on the data
  • the trajectory calculation unit obtains the elastic deformation amount in the entire area of the outline by performing spline interpolation on the elastic deformation obtained for each of the feature points, and determines the outline as the body direction by the elastic deformation amount.
  • the configuration is such that the locus is obtained by shifting to.
  • the massage operation control function has a virtual compliance control function that adjusts the vertical movement of the contact according to the reaction force measured by the sensor during the movement of the contact,
  • the virtual compliance control function may adopt a configuration in which the contact is moved up and down in a direction to cancel the increase / decrease in the reaction force.
  • the present invention provides a contact that contacts a user's body surface, an arm that moves in a predetermined space while holding the contact, and the body surface by contact of the contact
  • a control program for causing the control device to function for a pine surge robot comprising a sensor capable of measuring a reaction force from the control device and a control device for controlling the operation of the arm, wherein the measured value of the sensor
  • the body surface shape is detected on the basis of the shape and the massage target part in the body surface is detected based on the shape and the sensor measurement value.
  • the control device is configured to function so as to perform a massage operation.
  • the present invention provides a contact that contacts the body surface of a user, an arm that moves in a predetermined space while holding the contact, and a control device that controls the operation of the arm.
  • a trajectory creation function for creating a trajectory for moving the contact within a predetermined region of the body surface, and pressing the body surface with a set pressing force of a predetermined size while the contact moves along the trajectory.
  • the control device executes a massage operation control function for causing the contactor to perform a massage operation.
  • the trajectory creation function stores in advance data on the amount of elastic deformation of the body surface with respect to the pressing force of the contact for each of the living body regions, and a plurality of arbitrarily set for each predetermined living body region on the outline of the body surface For each feature point, the elastic deformation amount corresponding to the set pressing force is obtained based on the data, and the elastic deformation amount obtained for each feature point is spline interpolated to obtain the entire area of the outline. The amount of elastic deformation is obtained, and the locus is obtained by shifting the contour line in the body direction by the amount of elastic deformation.
  • the body part specifying robot includes a contact that contacts a body surface of a user, an arm that moves in a predetermined space while holding the contact, and the contact A sensor capable of measuring a reaction force from the body surface due to the contact of and a control device for controlling the operation of the arm,
  • the control device determines which internal organ is on the body surface. It has a site identification function that identifies whether it exists in the site,
  • the part specifying function controls the operation of the arm so that the contact moves on the body surface while pressing the body surface, and based on the difference in the reaction force accompanying the pressing of the contact, A configuration is adopted in which the part is specified.
  • a massage target part corresponding to an organ that is difficult to find from outside the body due to individual differences in position and size is automatically found, and the target part is accurately determined for each user. It becomes possible to specify.
  • a predetermined trajectory, strength, etc. set in advance with respect to the target portion of the massage automatically specified By powering the contact and pine surge, the user can stimulate the massage target site almost certainly without finding the massage target site. Furthermore, by adjusting the control content of the control device, the contact can be freely operated in accordance with a massage operation having a desired massage trajectory or strength. Therefore, it can be expected that a massage effect equivalent to a massage of a skilled practitioner can be obtained.
  • the arm moves along the shape of the body surface with individual differences when the massage target part is specified, and the massage is performed more reliably. It becomes possible to find the target part.
  • the movement trajectory of the contact can be created in consideration of the elastic deformation of the massage target part.
  • the trajectory is stored in the control device, so that the switch is turned ON / OFF during the second and subsequent massages.
  • the massage target part can be surely and effectively stimulated by simple operations such as the above. Therefore, in the second and subsequent massages, complicated positioning and other operations can be dispensed with each time, and only the user can handle the problem. Solution You can expect it to disappear.
  • FIG. 1 is a schematic configuration diagram of a massage robot according to a first embodiment.
  • FIG. 2 is a conceptual diagram showing an end face when the head is cut in the front-rear direction.
  • FIG. 3 is a conceptual diagram similar to FIG. 2 showing an example of a facial region.
  • FIG. 4 is a schematic configuration diagram of a massage robot according to a second embodiment.
  • FIG. 5 is a conceptual diagram showing a cross section of a part of the head.
  • FIG. 1 shows a schematic configuration diagram of a massage robot according to the first embodiment.
  • the massage robot 10 is a robot that automatically performs maxillofacial massage for oral rehabilitation to a user H who is a massage recipient.
  • the massage robot 10 includes a robot body 11 that can perform a massage operation, a drive device 13 that includes a plurality of motors that operate the robot body 11, and controls the drive of the drive device 13 to perform predetermined operations on the robot body 11.
  • a control device 15 that causes the
  • the robot body 11 includes a contact 17 that contacts the face F (body surface) of the user H, and An arm 19 that moves in a predetermined space while holding the contact 17 on the tip side, and a sensor 21 that is provided in the vicinity of the contact 17 and that can measure a reaction force against the pressure on the face F of the contact 17 It has.
  • the contact 17 is composed of a roller that can roll on the face F. This contact
  • the arm 19 is a structure that can be operated with six degrees of freedom by driving the driving device 13, and a known machine that allows the contact 17 on the tip side to move to an arbitrary position and orientation.
  • the structure is adopted. Since the mechanism is not the gist of the present invention, a detailed description is omitted here.
  • the arm 19 is provided at a position where it is difficult for the user H to enter the field of view. In this embodiment, the arm 19 is disposed on the head side lower than the eye height of the user H.
  • the arm 19 is not limited to the structure shown in the figure, and any structure can be used as long as it can operate with six degrees of freedom. Also, in the figure, a similar arm 19 can be added depending on the type of force pine surge provided at one location, and the arm 19 can be controlled as described below.
  • the sensor 21 is composed of a six-axis force sensor capable of measuring a reaction force in a six-axis direction that is a translational direction of three orthogonal axes and a rotation direction around each axis.
  • the sensor 21 may be any sensor as long as it can measure at least the reaction forces in the three orthogonal directions that are in the translation direction.
  • the control device 15 is composed of a predetermined computer, and is installed with a program for executing the following functions.
  • the control device 15 includes a shape detection function 23 for determining the shape of the face F (hereinafter referred to as “face shape”) based on the measurement value of the sensor 21, and the face shape determined by the shape detection function 23.
  • a part specifying function 24 for specifying a massage target part in the face F based on a measurement value of the sensor 21 and a massage target part specified by the part specifying function 24 using the contact 17 It is equipped with a massage operation control function 25 that operates.
  • the shape detection function 23 the face shape of the user H is obtained while controlling the operation of the arm 19 as follows.
  • the contact 17 is set in advance with a substantially constant pressing force that does not affect the damage to the organ within a predetermined region of the face F that is supposed to include the massage target part.
  • the operation of the arm 19 is controlled so as to roll along the virtual movement locus.
  • the movement locus of the contact 17 here is a locus along the face of a preset pattern, and this face pattern is prepared with a plurality of different face shapes.
  • a pattern that seems to be close to H is arbitrarily selected. This pattern is not particularly limited, but may be a rough pattern such as an adult male facial pattern, an adult female facial pattern, or a child facial pattern. .
  • the contact 17 moves along the locus of the pattern of the face F selected by the user H or the like, the measured value of the reaction force from the face F by the sensor 21 is controlled by the operation control of the arm 19. The contact 17 moves up and down so that the set value is almost constant.
  • Fig. 2 which is a conceptual diagram showing an end face when the head is cut in the front-rear direction
  • the actual face of the user H indicated by a solid line in the figure
  • the outline of F1 does not overlap most of the outline of the virtual face F2 of the pattern represented by the alternate long and short dash line in FIG. Therefore, the reaction force from the sensor 21 when the contact 17 is in contact with the face F while the face F is not deformed is set as the set value.
  • the reaction force is measured as the set value in the portion A of the actual face F1 that overlaps the virtual face F2, and in this case, The position of the tip end side is memorized as the position of the part A without the contact 17 moving up and down.
  • the contact 17 is recessed into the face F1 by the extent of the projection, so that the above setting value is exceeded.
  • a high reaction force will be measured by sensor 21.
  • the movement of the contact 17 is temporarily stopped, and the contact 17 moves outward (upward) in the direction of the arrow.
  • the reaction force measured by the sensor 21 gradually decreases, and when the contact 17 moves to the position where the face F1 is restored to the undeformed state, the reaction force measured at that time becomes the set value. This The position where the set value is reached is stored as the position of part B.
  • the contact 17 does not actually contact the face F1, and thus measured by the sensor 21.
  • the reaction force is almost zero.
  • the movement of the contact 17 is temporarily stopped, and the contact 17 moves inward (downward) in the direction of the arrow.
  • the contact 17 moves to a position where it abuts on the face F1
  • the reaction force measured at that time becomes the set value, so the position where the set value is reached is stored as the position of the part C. Is done.
  • each stored position is stored.
  • the facial shape is required so that almost all of F1 is included.
  • the part specifying function 24 specifies the massage target part while controlling the operation of the arm 19 as follows.
  • the contact 17 rolls along the face F within a predetermined area that is supposed to include the massage target part from the face shape of the user H obtained by the shape detection function 23.
  • the operation control of the arm 19 is performed.
  • the contact 17 moves almost entirely within the predetermined region while vibrating in the vertical direction with a pressing force that does not affect the organ damage.
  • a viscoelastic value is calculated
  • viscoelasticity range the viscoelasticity value of each part obtained by the calculation and the range of viscoelasticity value for each living body region stored in advance in the apparatus.
  • viscoelasticity range it is specified which living body region each of the parts belongs to.
  • the viscoelastic range for each living body region is set in advance based on the results of the experimental investigation, etc., and each part obtained by the above calculation is identified as the living body region of the viscoelastic range to which the viscoelastic value belongs. Is done.
  • the first to seventh regions 31 to 37 are divided.
  • the first region 31 is fat, muscle (lip) and It consists of a tooth.
  • the second region 32 consists of fat and muscle (lips).
  • the third region 33 consists of fat, muscle (masseter muscle) and bone.
  • the fourth region 34 consists of fat, parotid gland, muscle (masseter muscle) and bone.
  • the fifth region 35 consists of sardine fat, parotid gland and bone.
  • the sixth region consists of the parotid gland and bone.
  • the seventh region consists of the parotid gland. For each of these regions 3;! To 37, the viscoelastic range when a predetermined vibration is applied from the outside is set based on experimental results and the like. Then, from the viscoelastic values of the respective parts obtained by calculation, it is specified where the corresponding parts correspond to the first region 31 to the seventh region 37.
  • the living body region is specified in each part in the predetermined region, and the living body region to be massaged stored in advance is specified as the massage target portion.
  • the position, size, surface shape, hardness, and the like of the massage target site specified in this manner are determined from the above calculation results.
  • the massage operation control function 25 controls the arm 19 so as to cause the contactor 17 to perform a predetermined massage operation patterned in advance for the massage target portion specified by the portion specifying function 24. That is, here, a plurality of types of massage operation patterns are programmed, and in accordance with the operation pattern, a contactor is obtained so that a desired stimulus can be obtained in each living body region including an organ to be massaged. 17 moves in the face direction while moving up and down on the face F with a predetermined pressing force. The pressing force applied to the face F during a pine surge can be set arbitrarily.
  • the contact 17 From the set value and the viscoelasticity value of each part calculated by the part specifying function 24, the contact 17 The displacement and speed for moving the arm up and down are obtained by calculation, and the operation of the arm 19 is controlled so that the contact 17 moves up and down at the displacement and speed.
  • an arm for performing salivary gland massage on the parotid gland existing under the ear of the face F and the parotid duct extending from the parotid gland toward the mouth The power to explain the operation and control of 19 as an example The present invention is not limited to this massage.
  • the arm 19 is moved by the hand of the user H or a third party, so that the contact 17 at the tip of the arm 19 is brought into contact with the part of the face F below the ear of the user H, and this part is the initial position.
  • the face shape of the user H is obtained by the shape detection function 23. That is, when a facial shape pattern that seems to be closest to the user H is selected by the user H or the like, the arm 19 operates and the contact 17 is used according to the selected facial shape pattern.
  • Roll a predetermined range along the face F of the person H. The predetermined range here is the side of the face F from the lower ear through the buttocks to the lip.
  • the movement of the contact 17 along the face F is temporarily stopped so that the measured value at the sensor 21 becomes substantially the same as the set value.
  • the contact 17 moves up and down, and the tip position of the contact 17 at that time is stored. Then, when the contact 17 rolls within the predetermined range, the tip position of the contact 17 where the measured value at the sensor 21 is almost the set value is always stored, and the stored position of the contact 17 is stored.
  • a facial shape that contains almost all of is required.
  • the part specifying function 24 specifies the position of the parotid gland and the parotid gland that are the target parts of massage. That is, when the face shape is obtained by the shape detection function 23, the contact 17 returns to the initial position by the operation of the arm 19 and then vibrates (vertically moves) with a predetermined pressing force. Roll in the predetermined area according to the facial shape obtained in step (1). Then, a viscoelastic value is obtained based on the measured value of the sensor 21, and the predetermined area is determined from the previously stored biological areas, that is, the first area to the seventh area 3; It is specified to which region each part belongs.
  • the massage performed in the next process promotes the secretion of saliva by massaging the parotid gland and repeatedly squeezes the saliva in the mouth direction along the parotid gland duct.
  • Parts within the predetermined area corresponding to the fourth to seventh areas 34 to 37 where the parotid gland and the parotid gland duct exist are detected as massage target parts.
  • the massage operation of the strength, direction, trajectory, and rhythm set in advance by the operation of the arm 19 by the massage operation control function 25 is performed by the user H via the contact 17 For face F. That is, the contact 17 operates in accordance with a previously stored operation with respect to the massage target part specified by the part specifying function 24. That is, the contact 17 rotates and presses the parotid gland several times, and then presses and moves to squeeze saliva along the parotid canal. The operation is repeated.
  • the first embodiment it is possible to automatically detect organs such as the parotid gland, which have been difficult to specify in the past, and an accurate massage operation can be performed by the detection. Regardless of the various facial conditions of the user, it can be expected to effectively carry out oral rehabilitation without human intervention.
  • the facial shape of the user H is obtained from image data obtained in advance by a predetermined imaging device, various processes in the part specifying function 24 are performed based on the image data.
  • the shape detection function 23 can be omitted.
  • the region specifying function 24 can be used not only in the face part but also in the whole human body! /, And only when detecting other part of the body surface where the other organ is located, For detection applications that do not require massage, the massage robot 10 functions as a body part identification robot. In this case, the massage operation control function 25 can be omitted.
  • a massage robot 50 according to the second embodiment shown in FIG. 4 is obtained by changing the function in the control device 15 with respect to the first embodiment.
  • the other configurations are the same as those in the first embodiment. Is substantially the same. That is, unlike the massage robot 10 of the first embodiment, which can automatically specify the massage target part, the massage robot 50 is of a type that is premised on the specification of the target part by a doctor or the like.
  • the massage robot 50 for oral rehabilitation that performs salivary gland massage exemplified in the first embodiment will be described as an example, but the present invention is not limited to such massage.
  • the control device 15 of the present embodiment includes a trajectory creation function 54 that creates a trajectory T (see FIG. 5) of the contact 17 that moves along the face F, and a trajectory T created by the trajectory creation function 54. And / or a massage operation control function 55 for causing the contactor 17 to perform a massage operation.
  • the trajectory creation function 54 includes a storage unit 58 in which data on the pressing force on the face F and the amount of elastic deformation of the pressing portion are stored in advance, and a feature point arbitrarily selected within the massage range on the face F
  • a feature point deformation amount calculation unit 59 that obtains the elastic deformation amount at P (see FIG. 5) based on the data, and the elastic deformation amount of each feature point P obtained by the feature point deformation amount calculation unit 59
  • the storage unit 58 stores data representing the relationship between the pressing force and the amount of elastic deformation for each living body region when the living body region divided in the face F is pressed by the contactor 17.
  • the living body region in the present embodiment is not particularly limited, but is divided into first to fourth regions 63 to 66 from the front to the rear as shown in FIG.
  • the first area 63 is an area of the face F in which the fat fat F 1 exists
  • the second area 64 is an area of the face F in which the masseter muscle F2 exists
  • the third area 65 is The mandibular bone F3 and the parotid gland F4 are regions of the face F inside
  • the fourth region 66 is a region of the face F in which the parotid gland F4 exists.
  • the first to fourth regions 63 to 66 are massage regions where the contact 17 performs a massage operation.
  • the elastic deformation amount at the feature point P is obtained as follows. First, as a preparation, doctors and the like from the tomographic image of the head of user H, which was previously imaged by a medical imaging device such as CT or MRI (not shown), visually confirm the first to The fourth region 63 to 66 is discriminated, and the feature point P is arbitrarily designated on the outline L of the face F. At this time, it is specified that at least one feature point P exists in each of the regions 63 to 66. The designation at this time is not particularly limited, but a doctor or the like operates an operation means such as a mouse for each of the first to fourth areas 63 to 66 on the tomographic image displayed on a monitor (not shown).
  • two feature points P are designated in each of the first region 63 and the fourth region 66, and one feature point is provided in each of the second region 64 and the third region 65. P is specified.
  • two points at both ends are the parts corresponding to the start point and end point of the massage operation, and the massage operation described later is performed in the region between these parts.
  • the feature point deformation amount calculation unit 59 obtains the elastic deformation amount for each of the six feature points P based on the data stored in the storage unit 58 from the preset set pressing force during massage. That is, here, the amount of elastic deformation of the face F at each feature point P when the set pressing force is applied to each feature point P of the face F, that is, the amount of depression is obtained.
  • the locus T is obtained from the elastic deformation amounts of the six feature points P obtained by the feature point deformation amount calculation unit 59 as follows. That is, when the contact 17 moves while pressing between the feature points P along the outer shape line L of the face F, the elastic deformation amount between the feature points P is determined so as to smoothly transition. From the amount of elastic deformation of each feature point P, the amount of elastic deformation between each feature point P is calculated using spline interpolation. As a result, the amount of elastic deformation when the contact 17 moves on the contour line L between the feature points P and P at both ends is obtained in the entire region of the contour line L. The trajectory T is obtained by shifting the outline L between P in the body by the amount of elastic deformation at the corresponding position.
  • the massage operation control function 55 moves the contact 17 in the vertical direction according to the reaction force when the contact 17 is pressed against the face F while moving the contact 17 along the trajectory T.
  • the displacement amount X is calculated by the following equation using a part of the approximate concept.
  • K is a virtual spring coefficient
  • C is a virtual viscous damping coefficient
  • K and C are arbitrarily determined based on experimental results and the like. It ’s like that.
  • the arm 19 is controlled by the computer as if the spring and the dashpot are connected in parallel to the contact 17.
  • the operation of the arm 19 is controlled so that the contact 17 moves in the vertical direction with respect to the locus T by the displacement amount X.
  • the massaging operation control function 55 controls the operation of the contact 17 so as to move along the locus T while pressing the face F with the set pressing force.
  • a protrusion due to swelling, swelling, or blowout is present on the face F
  • a pressing force exceeding the set pressing force is applied to the face F. Will act.
  • the contact 17 moves away from the face F by the virtual compliance control function described above, and the face F can be pressed with the set pressing force. This means that even if the trajectory T is somewhat inaccurate, the face F can be pressed with the set pressing force during massage by adjustment using the virtual compliance control function.
  • the virtual compliance control here is a kind of feedback control for controlling the vertical movement of the contact 17 based on the measurement result by the sensor 21, for example, the control cycle is 5 msec.
  • the contact 17 moves, for example, at a speed of about 0. Olmm / msec in the face direction. Therefore, the movement of the contact 17 in the face direction per one control is 0.05 mm, which is the control time. There is almost no problem with delay.
  • each feature point P is arbitrarily designated by the judgment of a doctor or the like from the massage area of the face F on the tomographic image.
  • the feature point deformation amount calculation unit 59 obtains the elastic deformation amount of each feature point P.
  • the trajectory calculation unit 60 calculates the elastic deformation amounts of the six feature points P by spline interpolation. The trajectory T obtained by correcting the outline L is obtained and stored.
  • the arm 19 is powered by the hand of the user H or a third party, and the contact 17 is applied to the part of the face F below the ear of the user H, and a switch (not shown) is inserted.
  • salivary gland massage is performed along the trajectory T obtained. That is, by the operation control of the arm 19 by the massage operation control function 55, the contact 17 moves on the face F along the locus T while pressing the face F with the set pressing force.
  • virtual compliance control is performed, and when the reaction force from the face F measured by the sensor 21 has increased or decreased from the set pressing force, the contact 17 is moved up and down in a direction to cancel the increase and decrease.
  • the trajectory T corresponding to various patterns of face shapes is set and stored in the control device 15, and in the presence of a doctor, the user H It is also possible to select a face-shaped trajectory T that is close to you and massage the contact 17 along the trajectory T. In this case, even if the outline L of the face F related to the selected trajectory T is different from that of the user H, the face F of the user H is pressed with the set pressing force by the virtual compliance control. In addition, a tomographic image is not necessary, and the time and effort of the imaging can be saved.
  • the virtual compliance control of the second embodiment can be applied to the massage robot 10 of the first embodiment.
  • the vertical movement of the contact 17 is adjusted so that the pressing force becomes the set value according to the actual state of the face F. Even if the actual situation changes, the contact The pressing force applied by the child 17 can be more accurately performed.
  • the force that makes the massage robot 10 a robot for oral rehabilitation is not limited to this, and the present invention is also applicable to massage to other parts such as a trunk part and leg-foot part. It can also be applied as a robot for the establishment of facial F and other parts.

Landscapes

  • Massaging Devices (AREA)

Abstract

Un massage similaire au massage effectué par un masseur est réalisé automatiquement par détermination précise de l'état d'une partie à masser. Selon un exemple de l'invention, un robot de massage (10) comprend un contact (17) mis en contact avec le visage (F) d'un utilisateur (H), un bras (19) déplaçant le contact (17) dans un espace prédéterminé et assurant la retenue de l'extrémité du contact, un capteur (21) permettant de mesurer la force de réaction sur le contact (17) exercée à partir du visage (F) et produite lorsque le contact vient appuyer sur le visage, ainsi qu'un dispositif de commande (15) destiné à commander le mouvement du bras (19). Le dispositif de commande (15) possède une fonction de détection de forme (23) permettant de détecter la forme du visage (F) au moyen des valeurs mesurées par le capteur (21), une fonction de spécification de partie (24) destinée à spécifier une partie à masser sur le visage (F) selon la forme du visage détectée au moyen de la fonction de détection de forme (23) et de la valeur mesurée par le capteur (21), ainsi qu'une fonction de commande de massage (25) permettant de commander le contact (17) en vue de la réalisation d'un massage prédéterminé sur la partie à masser spécifiée au moyen de la fonction de spécification de partie (24).
PCT/JP2007/067745 2006-09-29 2007-09-12 Robot de massage, programme de commande associé et robot permettant de spécifier une partie du corps humain WO2008041457A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2008537442A JP5097907B2 (ja) 2006-09-29 2007-09-12 マッサージロボット及びその制御プログラム並びに体部位特定用ロボット

Applications Claiming Priority (2)

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JP2006266470 2006-09-29
JP2006-266470 2006-09-29

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WO2008041457A1 true WO2008041457A1 (fr) 2008-04-10

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JP (1) JP5097907B2 (fr)
WO (1) WO2008041457A1 (fr)

Cited By (5)

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Publication number Priority date Publication date Assignee Title
JP2010075571A (ja) * 2008-09-28 2010-04-08 Waseda Univ 体部位自動判別システム
CN101884585A (zh) * 2010-07-30 2010-11-17 山东建筑大学 一种中医推拿机器人控制系统
CN111419666A (zh) * 2020-03-07 2020-07-17 奥佳华智能健康科技集团股份有限公司 一种按摩手法力自适应方法
CN111571611A (zh) * 2020-05-26 2020-08-25 广州纳丽生物科技有限公司 一种基于面部及皮肤特征的面部作业机器人轨迹规划方法
CN113081757A (zh) * 2021-03-22 2021-07-09 未来穿戴技术有限公司 按摩控制方法及筋膜枪、计算机可读存储介质

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JPH09299425A (ja) * 1996-05-16 1997-11-25 Sanyo Electric Co Ltd マッサージ装置
WO1999059521A1 (fr) * 1998-05-15 1999-11-25 Yoshio Muramatsu Dispositif de pression therapeutique
JP2001037832A (ja) * 1999-07-27 2001-02-13 Matsushita Electric Works Ltd 椅子式マッサージ機
JP2001269380A (ja) * 2000-03-27 2001-10-02 Sanyo Electric Co Ltd マッサージ機
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JPH04343846A (ja) * 1991-05-22 1992-11-30 Sanyo Electric Co Ltd 椅子式マッサージ機
JPH06190012A (ja) * 1992-08-26 1994-07-12 Matsushita Electric Works Ltd マッサージ機
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010075571A (ja) * 2008-09-28 2010-04-08 Waseda Univ 体部位自動判別システム
CN101884585A (zh) * 2010-07-30 2010-11-17 山东建筑大学 一种中医推拿机器人控制系统
CN111419666A (zh) * 2020-03-07 2020-07-17 奥佳华智能健康科技集团股份有限公司 一种按摩手法力自适应方法
CN111419666B (zh) * 2020-03-07 2022-07-22 奥佳华智能健康科技集团股份有限公司 一种按摩手法力自适应方法
CN111571611A (zh) * 2020-05-26 2020-08-25 广州纳丽生物科技有限公司 一种基于面部及皮肤特征的面部作业机器人轨迹规划方法
CN111571611B (zh) * 2020-05-26 2021-09-21 广州纳丽生物科技有限公司 一种基于面部及皮肤特征的面部作业机器人轨迹规划方法
CN113081757A (zh) * 2021-03-22 2021-07-09 未来穿戴技术有限公司 按摩控制方法及筋膜枪、计算机可读存储介质

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