The Realization of Palm Kneading for Chinese Massage Robot
This paper mainly introduces the mechanical structure and parameters of Chinese massage robot, establishes coordinate system for the whole structure and on this base, establishes equations of motion for manipulator by D-H method. Then this paper makes a planning for trajectory of Palm kneading which is one of ten massage techniques, realizes it using interpolation method, and takes a simulation to the trajectory by MATLAB software at the end.
G. Y. Du et al., "The Realization of Palm Kneading for Chinese Massage Robot", Advanced Materials Research, Vols. 383-390, pp. 1313-1317, 2012