WO2023110489A1

WO2023110489A1 - Method for planning movements to be performed automatically of a robot arm guiding a massage appliance, and associated robot system

Info

Publication number: WO2023110489A1
Application number: PCT/EP2022/084393
Authority: WO
Inventors: Manuel KASPAR
Original assignee: Kuka Deutschland Gmbh
Priority date: 2021-12-17
Filing date: 2022-12-05
Publication date: 2023-06-22
Also published as: DE102021133625A1

Abstract

The invention relates to a method for planning movements to be performed automatically of a robot arm (3), which is designed to massage a living being (25) by means of a massage appliance (20) automatically guided by the robot arm (3). In the method, the basic program (27) for the robot movement is adapted depending on the predefined body features of a living being (25) detected by an optical detection means (22) in order to obtain an individual program (28) for the robot movement, in which program at least one movement path (30) and/or at least one additional parameter, associated with the movement path (30), of the massage appliance (20) is modified depending on the predefined body features of the living being (25) detected by the optical detection means (22). The invention also relates to an robot system (21) for carrying out the method.

Description

Method for planning automatic movements of a robot arm guiding a massage device and associated robot system

The invention relates to a method for planning movements to be carried out automatically by a robot arm which is designed to massage a living being by means of a massage device which is automatically guided by the robot arm. The invention also relates to a robot system for carrying out the method.

US 2017/0266077 A1 describes a massage robot comprising a movable robotic arm with a first end effector, a processor, the processor controlling the movable robotic arm, a memory, a first body shape with a first anatomical calibration point, a pre-programmed one based on the first body shape initial massage path , and a second body shape having a second anatomical calibration point located at an analogous anatomical location as the first anatomical calibration point of the first body shape , the processor being programmed to alter the initial massage path to create a calibrated massage path on the to calculate the basis of the second body shape.

The object of the invention is to create a method for planning movements of a massage robot to be performed automatically, in which the movements to be performed can be easily adapted to an individual shape of a living being.

The object is achieved by a method for planning automatic movements of a robot arm to be performed is designed to massage a living being by means of a massage device automatically guided by the robot arm, having the steps:

- In a control device that is set up to control the robot arm in order to automatically guide the massage device, storing a basic robot movement program that has at least one movement path for at least one reference point of the massage device that is automatically guided by the robot arm and at least one other parameter of the massage device that is assigned to the movement path includes,

- Detection of predetermined physical characteristics of a living being, which is to be massaged by the robotic arm automatically guided massage device, by means of an optical detection device,

- Adaptation of the basic robot movement program as a function of the predetermined physical characteristics of the living being detected by the optical detection device in order to obtain an individual robot movement program in which the at least one movement path and/or the at least one additional parameter of the massage device assigned to the movement path is recorded as a function of the predetermined physical characteristics of the living being detected by the optical detection device have changed,

- Automatic movement of the massage device by executing the customized robot movement individual program, such that the control device corresponding to the movements of the robot arm controlled in order to move the massage device guided by the robot arm according to the robot movement individual program.

The method can be used to control at least one robot arm that is used as part of a massage treatment for a living being, in particular a human being. The method serves to improve, in particular to simplify, an adaptation of the automatic massage treatment to different individuals.

The success of an automated massage treatment depends, among other things, on how well the automatically controlled robot arm that guides the massage device can adapt its movements individually to a specific living being or a specific person who is to be massaged. As is well known, all living beings, especially humans, are different, not only in terms of their size and shape, but also in terms of their feelings. An automated massage treatment should therefore be tailored as individually as possible to a specific living being, in particular to a specific human being.

However, an individual creation of a robot program for each individual case would be very time-consuming and also very expensive. With the method according to the invention, a technical solution is proposed that is based on a universal robot program that has been created once, but can be adapted quickly and easily for each individual case, so that the basic robot movement program is converted into an individual robot movement program. which can be executed immediately. For this purpose, the method uses an optical detection device, by means of which at least one movement path and/or at least one further parameter of the massage device assigned to the movement path can be changed as a function of the predetermined physical characteristics of the living being detected by the optical detection device. The physical features include not only the physiognomy of the living being, in particular a human being, d. H . whose physical shape, but in special execution forms of the invention, other parameters, such as sensitivity to pain or. the pressure sensitivity of the skin and/or muscles of the living being or person in general or specifically with regard to a specific part or region of the body.

The method accordingly plans on the basis of information or Data that can be obtained by means of the optical detection device in view of the individual who is then to be massaged automatically, a robot movement individual program which, depending on the information or Data is derived from a given robot motion basic program.

Since the robot movement individual program obtained in this way automatically controls the robot arm so that the robot arm performs individual movements, the massage device guided by the robot arm is also moved individually, so that the individual detected by the optical detection device can be massaged individually and automatically.

For this purpose, the control device reads out the generated individual robot movement program and generates associated control commands which move the drives, in particular electric drives of the robot arm, in order to change the pose of the robot arm, d. H . to adjust his joints . A general robot movement basic program is stored in the control device, which has been created at least once before the method is carried out. The robot movement basic program can have basic movement patterns. The basic movement patterns can include general basic movement paths and/or average values, which can be useful for a massage treatment.

The basic robot movement program can include, for example, basic movement patterns, such as straight forward movements and straight backward movements, circular movements, either clockwise or counterclockwise, stroking movements and/or spiral movement patterns. With regard to their path lengths, these basic movement patterns can be normalized to a specific standard length value and, for example, be scalable for adaptation to the individual robot movement program. For example, specific path sections can be stored in the basic robot movement program, which are standardized for a person with a height of, for example, 1.69 meters or 1.79 meters. If the body size of the individual to be massaged detected by the optical detection device is, for example, 10% larger, the relevant path sections of the basic robot movement program are also increased by a factor of 10% and stored in a robot movement individual program assigned to this individual. Instead of storing a separate individual robot movement program, provision can also be made for the stored basic robot movement program to be computer-adapted only in online operation simultaneously (on the fly) without having to store a separate individual robot movement program. However, at least one storage of the basic robot movement program is required, which basic robot movement program comprises at least one movement path for at least one reference point of the massage device automatically guided by the robot arm and comprises at least one further parameter of the massage device assigned to the movement path.

The detection of predetermined physical characteristics of a living being that is to be massaged by the massage device automatically guided by the robotic arm, using an optical detection device, can also include other physical characteristics in addition to the body size already mentioned, or instead of the body size. For example, the back length, the shoulder width and/or a respective arm length or leg length can be relevant body features in a human being. However, other relevant body characteristics can also be the morphology of certain body regions, the body mass index (BMI) and/or an optically determined fat and/or muscle percentage. With modern image analysis algorithms and a suitable optical detection device, the skin structure or the skin type can be determined visually.

Based on all of these features mentioned as examples, the basic robot movement program can be adapted as a function of the predetermined physical features of the living being detected by the optical detection device in order to obtain the individual robot movement program. As already mentioned, in a first embodiment variant, a separate individual robot movement individual program can be generated and also stored for each optically recorded individual. In an alternative second embodiment, it can be provided that only the basic program for the movement of the robot is stored and then only in an online line operation simultaneously (on the fly) this is mathematically adapted without storing its own individual robot movement program. An individual robot movement individual program is then not stored in such a case.

In both variants, however, the at least one movement path from the basic robot movement program and/or the at least one further parameter of the massage device assigned to the movement path is changed as a function of the predetermined physical characteristics of the living being detected by the optical detection device.

The additional parameter of the massage device can be, for example, a pressure force with which the massage device presses on the skin area of the individual while the intended massage movement is being carried out.

The massage device is then automatically moved by executing the adapted individual robot movement program in such a way that the control device controls the movements of the robot arm accordingly in order to move the massage device guided by the robot arm according to the individual robot movement program. The calculations carried out in real time, which take place within the control device, are also understood as an individual robot movement program if, on the basis of the basic robot movement program, its stored paths and/or parameters are calculated using the features of the living being or animal detected by the optical detection device. of the individual, in particular people, the paths and/or parameters are changed. The silhouette of the living being, the silhouette of at least one body part of the living being and/or a morphological structure of the body of the living being can be optically detected as a predetermined bodily feature of the living being by means of the optical detection device.

The detection of predetermined body features of a living being that is to be massaged by the massage device automatically guided by the robotic arm, using the optical detection device, can also include other body features in addition to the body size already mentioned as an example or instead of the body size. For example, only the back length, the shoulder width and/or a respective arm length or leg length can be relevant body features of a person's silhouette. However, other relevant body characteristics can also include morphology, i. H . the form or shape of certain body regions, the body mass index (BMI) and/or an optically determined fat and/or muscle percentage. With modern image analysis algorithms, the skin structure or the skin type can be determined optically, which in this respect also falls under these characteristics.

In a further development of the method, a pressure force, which is to be exerted on the living being by the massage device automatically guided by the robot arm, can be stored as a further parameter of the massage device, in particular as a function of the current position of the reference point of the massage device on the movement path specified by the individual robot movement program become .

The other parameters of the massage device can accordingly a

Pressure force with which the massage device on the skin partie of the individual presses while the intended massage movement is carried out.

The basic robot movement program can be designed in such a way that the massage-effective surface of the massage device that comes into contact with the respective skin area of the individual to be massaged is always aligned in such a way that the pressure force acts exactly perpendicularly on the skin area. For this purpose, it can be provided that in the robot movement basic program a certain orientation of the massage device in space is assigned to certain positions on the respective path of the robot movement basic program, which can ensure that the respective skin area of the individual to be massaged is in contact stepping effective massage surface of the massage device is always aligned so that the pressure force acts exactly perpendicular to the skin area. If, based on the characteristics of the living being or of the individual, in particular of the person to be massaged, the shape and/or position of the part of the skin to be massaged is different, the orientation of the massage device at the specific positions on the respective path of the basic robot movement program can be changed, d. H . be adjusted so that even with the individual living being it is automatically ensured that the massage-effective surface of the massage device that comes into contact with the respective skin area of the individual to be massaged is always aligned in such a way that the contact pressure acts exactly perpendicularly on the skin area.

In an alternative or supplementary development of the method, a basic type of movement of the massage device, according to which the massage device automatically guided by the robot arm on the living being, can be defined as a further parameter of the massage device is to be moved, stored in particular as a function of the current position of the reference point of the massage device on the movement path specified by the individual robot movement program.

A basic type of movement of the massage device can be, for example, a straight forward movement and/or a straight backward movement, a circular movement, either clockwise or counterclockwise, a stroking movement and/or a spiral movement. These basic basic movement types or movement patterns can be normalized to a specific standard length value with regard to their path lengths and can be scalable, for example, for adaptation to the individual robot movement program. For example, specific path sections can be stored in the basic robot movement program, which are standardized for a person with a height of, for example, 1.69 meters or 1.79 meters. If the body size of the individual to be massaged detected by the optical detection device is, for example, 10% larger or 10% smaller, the relevant path sections of the basic robot movement program are also increased or reduced by a factor of 10%. reduced by a factor of 10% and stored in a robot movement individual program assigned to this individual. Instead of storing a separate individual robot movement program, provision can also be made for the stored basic robot movement program to be computer-adapted only in online operation simultaneously (on the fly) without having to store a separate individual robot movement program.

The basic types of movement of the massage device can also be scaled according to their respective characteristics. So For example, circular movements that are specified in the basic robot movement program on a specific circle radius can be executed on a correspondingly increased or reduced circle radius depending on the values detected by the optical detection device. The same applies, for example, to a length of the straight forward movements and/or straight backward movements, or to the spiral movements, the spirals of which are larger or smaller relative to the size and/or shape provided in the basic robot movement program, according to the values recorded by the optical detection device can be configured differently.

In all developments, the additional parameter can have a first value or first state in a first path section of the movement path specified in the individual robot movement program, and in a second path section of the movement path specified in the individual robot movement program, which is different from the first path section, the further parameter can have a value that differs from the first value has a different second value or have a second state that is different from the first state.

The respective value can be, for example, the pressure force already mentioned, with which the massage device should press onto an area of the skin of the individual while the massage is being carried out, in that the robot arm handling the massage device moves or presses the massage device. leads .

For example, one condition that may change may be a vibration frequency at which an oscillating massager is operated as it is moved over the skin area of the individual. Alternatively or additionally, a state that can change can also be a change between an oscillating operation of the massager and a non-oscillating operation of the massager. The massage device can also have one roller or several rollers or rollers, which can be controlled in different directions of rotation, different speeds and/or different orientations of their axes of rotation.

The movement path specified in the individual robot movement program can be automatically optimized in the direction of a predetermined target value or target state by means of a mathematical algorithm.

The mathematical algorithm can be an optimization algorithm. The predetermined target value and/or the predetermined target state can be defined in a target function. If necessary, the target function can be changed manually, in particular by a manual entry on an input device by the person on whom the automatic massage is to be carried out.

For example, a person can use a first button on the handheld device, which can have a plus functionality, for example, and a second button on the handheld device, which can have a minus functionality, for example, to increase or decrease the contact pressure of the massage device as desired. humiliate .

During the optimization, the target value or target state can thus be changed by an individual entry on an input device.

The control device, the massage device and/or the robotic arm can be actuated acoustically by means of voice control. be cash . To this extent, voice control can replace or supplement manual input on an input device.

In all embodiments of the method, the optical detection device can comprise at least one digital camera, which is connected to the control device in terms of control technology.

The optical detection device, in particular the digital camera, can be arranged on the robot arm, for example. Alternatively, the optical detection device, in particular the digital camera, can be set up separately, for example attached to a wall and standing on a tripod.

The optical detection device, in particular the digital camera, can provide signals, data and/or information to an image evaluation system which processes the signals, data and/or information, d. H . can evaluate . The image evaluation system can be part of the control device or can be designed separately from the control device as a separate control device.

In general, the control device can form a central controller which contains all the control components necessary for carrying out the method. Alternatively, the control device can have two or more decentralized control modules, which are then set up to interact in terms of control technology, for example in that the control modules can exchange signals, data and/or information via communication links.

The object is also achieved by a robot system having a massage device, an optical detection device, a control device to which the optical detection device is connected in terms of control technology, and one of the robot arm controlled by the control device and automatically guiding the massage device with several limbs and several joints connecting the limbs, as well as drives moving the joints, which are set up to automatically move the joints controlled by the control device in order to adjust the limbs of the robot arm in relation to one another, so that the massage device guided by the robot arm is to be moved in accordance with a robot movement individual program stored in the control device, the control device being designed and set up to carry out a method according to one or more of the described embodiments.

The invention is summarized again in the following, specifically using terms that are sometimes different but have the same meaning as they have already been described in more detail above.

In order to direct the movements of the robotic arm, which guides the massage device, for example towards the user, i. H . the person to be massaged, should be able to vote, the position, the size and / or possibly other parameters or. Characteristics or values of the user by means of a vision system, i . H . an optical detection device are detected to certain individual characteristics or. identify reference points. In the prior art, this is achieved using a special couch equipped with touching sensors. The invention, however, proposes an alternative method, in particular that can simultaneously detect multiple landmarks as touching sensors in a bed.

According to the invention, for example, above the patient bed, i. H . For example, a camera can be arranged above the person to be massaged, for example the back or other areas of the body to be massaged. In particular, using methods of deep learning and in particular image segmentation, various reference points can be recorded and evaluated, which can be used for the subsequent positioning and movement of the massage device. For example, the exact position of the person in the Cartesian X-direction, Y-direction and Z-direction can be detected and also the orientation, i. H . the position of the person around the Cartesian axes of rotation a, b and c. The exact positions of the shoulder blades, the spine and/or other body parts can also be recorded.

Furthermore, the system can have predefined trajectories for specific body parts that are morphed in relation to the reference points, d. H . can be changed. For example, a force profile in the Z-direction can be selected during this trajectory. So along the spine z. B. Stroke movements from top to bottom can be programmed or . be programmed from the bottom up. Alternatively or in addition, for example, circular movements can be programmed to the right and left of the spine, as a person may also use their fingers or fingers. would run the thumb out . At the same time, a force profile of the trajectory can be stored, which corresponds to a human massage. In the thigh area, for example, other movements can be performed that massage the thigh muscle, for example. Optionally, it can be ensured that the movement always takes place in a direction perpendicular to the surface of the body.

The massage device can, for example, contain several freely movable massage rollers that have different properties, such as

hardness , size etc . may have and which may have equipped with a force measurement in the Z direction. Thus, different massage options can be selected.

A user-specific flexible adaptation by voice control can also be possible in a further development of the invention.

Within the scope of such voice control or also within the scope of manual hand control, for example, a change in the regions to be massaged can be achieved. For example, various commands such as higher, lower, up, down, left or right can be given by voice commands or by manual input to an input device.

In the same way, a change in the available trajectories can also be carried out using voice control or manual control. For example, you can switch from a circular movement in the shoulder area to a forward and backward movement.

A change in the force profile can also be carried out using voice control or manual control. In this way, voice commands such as firmer, lighter or initially firmer, etc. increases or decreases the pressure of the massage device on the respective skin area. be humiliated .

In addition , voice controlled or manually controlled focusing on specific areas , i . H . skin areas possible . For example, a circular movement with a small radius and firm pressure can be initiated with a voice command such as "here please more firmly". According to another aspect of the invention, an automated change of the massage device can also be carried out under voice control or under manual control. The robot arm can be controlled by the control device, for example, a first massage device that has a first type of massage head can be automatically put down by moving the robot arm and another second massage device that has a second type of massage head can be picked up automatically by moving the robot arm. to continue the treatment with this exchanged massage device or to start . For example, a large massage head can be exchanged for a small massage head, or vice versa.

All voice-controlled or manually controlled specifications can be stored individually assigned to a specific person, so that they can be called up again at a later point in time in the form of individual robot movement programs.

The method can also provide for flexible, user-specific learning of pleasant configurations to be carried out.

For example, the user can use a hand-held slider to give feedback on how well he finds the current massage movement, ie the past trajectory. Other input methods like speech etc. are also possible .

An optimization or learning algorithm can then find out which variants of the movement are more comfortable and which are not. On the one hand, this can be per massage region, but also for regions such as all areas on the side of the to be learned about the spine . A learning algorithm could, for example, learn across all lateral areas of the spine that the user likes it when the user presses hard at the beginning of the trajectory, for example presses harder in the upper back area, but presses less hard further down. The algorithm can also find out, for example, that the user prefers a constant force in the case of a stroking movement, for example, and prefers a force peak at the beginning of a circular movement.

The algorithm can play through different variants of the movement. For example, the size of the radius of the trajectory can be changed. Different distribution and strength of the pressing force, different massager options, speeds, etc. can be changed automatically by trying out . The optimization and learning algorithm can find out which configurations are more suitable for certain regions than other configurations. In this case, data are collected which describe the features of this trajectory for each trajectory.

The algorithm can run through different trajectory types. These trajectory types can determine whether a circle, a tap or rather a sweep should be performed. With regard to force profiles, it can be provided that pressure is either applied uniformly or with a force peak at the beginning of the treatment, or a force peak is to be generated towards the middle of the treatment, or a force peak is to be generated towards the end of the treatment. It is also possible to select force multiplication factors or select different types of massage devices. In an active learning process, random settings learned according to a programmed heuristic or on many users can be tried out at the beginning. In doing so, it should be ensured that various possibilities are explored. Depending on whether only one region is optimized or this selection is to be automatically adapted to certain body regions, a position relative to the patient can also be added, for example, or an identification value can be assigned to each region.

An optimization or learning process can then be started, which on the one hand proposes new configurations to try out and is increasingly limited to better configurations. Modern optimization algorithms, such as the well-known CMA-ES algorithm or learning algorithms such as decision trees (e.g. random decision forests) in combination with an associated rule, which generates random samples or support points according to the predicted probability distributions of the evaluated characteristics, ensure a meaningful assessment.

In an extension, the data from different people can be combined and the best possible initial configuration for a "standard user" can be derived from this.

With the optimizer or learning algorithm, particular attention can be paid to ensuring that not only the best configuration is used, but that the various relative optima remain and can be used. It is possible, for example, that the user prefers very large but also very small trajectories, but not those in between. This can be ensured, for example, via a corresponding entropy term. Complete learning of the trajectories is also conceivable. To generate the complete controller, i.e. the complete movements, through automatic learning and corresponding feedback from the user. Due to the complexity and difficult time dependencies, however, this can only be implemented in a meaningful way with a great deal of effort.

A specific exemplary embodiment of the invention is explained in more detail in the following description with reference to the attached figures. Specific features of this exemplary embodiment can represent general features of the invention, regardless of the specific context in which they are mentioned, possibly also considered individually or in other combinations.

Show it :

Fig. 1 is a perspective view of an exemplary robot arm that can be used within the scope of the method according to the invention,

Fig. 2 shows a schematic representation of an exemplary robot system according to the invention with an optical detection device,

Fig. 3 is a flow chart of the steps in the basic method of the present invention, and

Fig. 4 is a schematic representation of the adaptation of the robot motion basic program into a robot motion

individual program .

the fig . 1 shows an exemplary robot 1 with a control device 2 and a robot arm 3 . The robot arm 3 has a base frame 5 as the first link G1, on which a carousel 7 as the second link G2 is mounted so that it can rotate about a first vertical axis A1 and is driven in rotation by a first drive motor M1. The axes A1 - A6 of the robot arm 3 can also be referred to as joints L1 - L6 of the robot arm 3 . A rocker 8 is mounted on the carousel 7 as a third link G3 so that it can pivot up and down about a second horizontal axis A2 and is driven in rotation by a second drive motor M2. The rocker 8 carries an arm extension 9 which is mounted such that it can pivot up and down about a third horizontal axis A3 and is driven in rotation by means of a third drive motor M3. On the arm extension 9, whose base arm 10 forms a fourth link G4, a fourth axis A4 is provided, which runs in the longitudinal extension of the arm extension 9 and via a fourth drive motor (not shown) drives a front arm 11 in rotation, which forms a fifth link G5. A first leg 12a and a second leg 12b extend forward from the forearm 11 in the form of a fork. The two legs 12a, 12b carry a bearing for a hand 13, which forms a sixth link G6. The bearing defines a fifth axis A5 of the robot arm 3 about which the hand 13 can be pivoted by means of a fifth drive motor (not shown). In addition, the hand 13 has a sixth axis A6 in order to be able to rotatably drive a fastening flange 14, which forms a seventh link G7, by means of a sixth drive motor (not shown). A joint LI to L6 is assigned to each axis A1 to A6, which joints LI to L6 in the case of the exemplary embodiment shown from connect the links Gl to G7 in the manner of serial kinematics of a kick arm robot.

A massage device 20 that can be used for the method according to the invention can be attached to the fastening flange 14 of the robot arm 3, as is shown in FIG. 2 , so that the massage device 20 performs the massage movements specified by the movements of the robot arm 3 .

the fig . 2 shows an exemplary robot system 21 having the massage device 20 , an optical detection device 22 , the control device 2 to which the optical detection device 22 is connected in terms of control technology.

The controlled by the control device 2, the massage device 20 automatically guiding robot arm 3 with the multiple links Gl to G7 and multiple joints LI to L6, which connect the links Gl to G7, and the joints LI to L6 moving drives (drive motors Ml to M6), which are set up to automatically move the joints LI to L6, controlled by the control device 2, in order to adjust the limbs Gl to G7 of the robotic arm 3 in relation to one another, so that the massage device 20 guided by the robotic arm 3 can individual program is to be moved, the control device 2 being designed and set up to carry out a method according to the invention.

In addition to the optical detection device 22, the exemplary robot system 21 also includes a manual input device 23 and a microphone 24 for voice control. In Fig. 2 also shows a person 25a as an example of a living being 25 lying on a massage table 26 . In the fig. 3 the basic procedure is presented as a flowchart. The method is designed for planning automatic movements of the robot arm 3 , which is designed for massaging a living being 25 by means of the massage device 20 guided automatically by the robot arm 3 . The procedure includes the following steps :

In a first method step S 1, the control device 2 is set up to control the robot arm 3 in order to automatically guide the massage device 20, with a basic robot movement program 27 being stored that has at least one movement path for at least one reference point of the massage device automatically guided by the robot arm 3 20 and at least one further parameter of the massage device 20 associated with the movement path.

In a second method step S2 , predetermined physical characteristics of a living being 25 that is to be massaged by the massage device 20 that is automatically guided by the robot arm 3 are detected by means of the optical detection device 22 .

In a third method step S3, the basic robot movement program 27 is adapted as a function of the predetermined physical characteristics of the living being 25 detected by the optical detection device 22 in order to obtain a robot movement individual program 28 in which the at least one movement path and/or the at least another parameter of the massage device 20 assigned to the movement path is changed as a function of the predetermined physical characteristics of the living being 25 detected by the optical detection device 22 . In a fourth method step S4, the massage device 20 is automatically moved by executing the customized robot movement individual program 28 in such a way that the control device 2 controls the movements of the robot arm 3 accordingly in order to move the massage device 20 guided by the robot arm 3 according to the robot movement Individual program 28 to move .

The silhouette of the living being 25 , the silhouette of at least one part of the body of the living being 25 and/or a morphological structure of the body of the living being 25 can be optically detected as a predetermined bodily feature of the living being 25 by means of the optical detection device 22 .

As in Fig. 2 is shown schematically, the optical detection device 22 can be mounted separately from the robot arm 3 on a tripod 29 which is set up in the vicinity of the massage table 26.

As a further parameter of the massage device 20, a compressive force, which is to be exerted on the living being 25 by the massage device 20 automatically guided by the robot arm 3, in particular depending on the current position of the reference point of the massage device 20 on the one specified by the robot movement individual program 28 Movement path 30 are stored.

As a further parameter of the massage device 20, a basic movement type of the massage device 20, according to which the robot arm 3 automatically guided massage device 20 is to be moved on the living being 25, in particular depending on the current position of the reference point of the massage device 20 on the robot movement individual program 28 predetermined movement path 30 are stored. The further parameter can have a first value or first state in a first path section BAI of the movement path 30 specified in the individual robot movement program 28, and in a second path section BA2 of the movement path 30 specified in the individual robot movement program 28, which is different from the first path section BAI, the further parameter can have a date of have a second value that is different from the first value or have a second state that is different from the first state.

The movement path 30 specified in the individual robot movement program 28 can be derived from a basic path 31 of the basic robot movement program 27, as is shown in FIG. 4 is illustrated.

The movement path 30 specified in the individual robot movement program 28 can be automatically optimized by means of a mathematical algorithm 32 in the direction of a predetermined target value or target state.

The basic path 31 of the basic robot movement program 27 can be converted into the movement path 30 of the individual robot movement program 28, d. H . be morphed .

The target value or target state can be changed by an individual input on the input device 23, as shown in FIG. 2 is indicated.

However, the control device 2 , the massage device 20 and/or the robot arm 3 can also be actuated acoustically by means of voice control, which includes the microphone 24 . The optical detection device 22 can include at least one digital camera 22a, which is connected to the control device 2 in terms of control technology.

Claims

patent claims

1. A method for planning movements of a robot arm (3) to be carried out automatically, which is designed to massage a living being (25) by means of a massage device (20) automatically guided by the robot arm (3), comprising the steps:

- in a control device (2), which is set up for controlling the robot arm (3) in order to automatically guide the massage device (20), storing a basic robot movement program (27) which has at least one movement path (30) for at least one reference point of the the massage device (20) guided automatically by the robot arm (3) and at least one further parameter of the massage device (20) assigned to the movement path (30),

- Detection of predetermined physical characteristics of a living being (25) that is to be massaged by the robotic arm (3) automatically guided massage device (20) by means of an optical detection device (22),

- Adapting the basic robot movement program (27) as a function of the optical detection device (22) detected predetermined physical characteristics of the living being (25) in order to obtain a robot movement individual program (28) in which the at least one movement path (30) and/or or the at least one further parameter of the massage device (20) assigned to the movement path (30) as a function the predetermined physical features of the living being (25) detected by the optical detection device (22) have changed,

- Automatic movement of the massage device (22) by executing the adapted individual robot movement program (28) in such a way that the control device (2) controls the movements of the robot arm (3) accordingly in order to move the massage device (20 ) according to the robot movement individual program (28). Method according to Claim 1, characterized in that the silhouette of the living being (25), the silhouette of at least one part of the body of the living being (25) and/or a morphological structure of the body of the living being (25) as a predetermined body feature by means of the optical detection device (22). of the living being (25) is detected optically. Method according to Claim 1 or 2, characterized in that a further parameter of the massage device (20) is a compressive force which is to be exerted on the living being (25) by the massage device (20) automatically guided by the robot arm (3), in particular as a function of the current position of the reference point of the massage device (20) on the through the robot movement individual program (28) predetermined movement path (30) is stored. Method according to claim 1 or 2, characterized in that as a further parameter of the massage device (20) a basic type of movement of the massage device (20), according to which the massage device (20) automatically guided by the robot arm (3) is to be moved on the living being (25), in particular depending on the current position of the reference point of the massage device (20) on the movement caused by the robot -Individual program (28) predetermined movement path (30), is stored. Method according to Claim 3 or 4, characterized in that the further parameter has a first value or first state in a first path section (BAI) of the movement path (30) specified in the individual robot movement program (28) and in one of the first path sections (BAI) different second path section (BA2) of the movement path (30) specified in the individual robot movement program (28), the further parameter has a second value that differs from the first value or has a second state that differs from the first state. Method according to one of Claims 1 to 5, characterized in that the movement path (30) specified in the individual robot movement program (28) is automatically optimized by means of a mathematical algorithm in the direction of a predetermined target value or target state. Method according to Claim 6, characterized in that the target value or target state can be changed by an individual entry on an input device (23). Method according to one of Claims 1 to 7, characterized in that the control device (2), the massage device (20) and/or the robot arm (3) can be actuated acoustically by means of voice control. Method according to one of Claims 1 to 8, characterized in that the optical detection device (22) comprises at least one digital camera (22a), which is connected to the control device (2) in terms of control technology. Robot system having a massage device (20), an optical detection device (22), a control device (2) to which the optical detection device (22) is connected in terms of control technology, and a massage device (20) controlled by the control device (2) automatically leading robot arm (3) with multiple links (G1-G6) and multiple joints (L1-L6) connecting the links (G1-G6) and drives (M1-M6) moving the joints (L1-L6) which are set up are to automatically move the joints (L1-L6) controlled by the control device in order to adjust the limbs (Gl-G6) of the robotic arm (3) against each other, so that the massage device (20) guided by the robotic arm (3) according to a robot movement individual program (28) stored in the control device (2), the control device (2) being designed and set up to carry out a method according to one of Claims 1 to 9.