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Sergey Sayapin
Elena Sayapina



Author(s) and WSEAS

Sergey Sayapin
Elena Sayapina


WSEAS Transactions on Computers


Print ISSN: 1109-2750
E-ISSN: 2224-2872

Volume 16, 2017

Notice: As of 2014 and for the forthcoming years, the publication frequency/periodicity of WSEAS Journals is adapted to the 'continuously updated' model. What this means is that instead of being separated into issues, new papers will be added on a continuous basis, allowing a more regular flow and shorter publication times. The papers will appear in reverse order, therefore the most recent one will be on top.



Novel Approach to Creation of Portable Self-Propelled Autonomous Massage Robots with Triangular and Octahedral Parallel Structures

AUTHORS: Sergey Sayapin, Elena Sayapina

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ABSTRACT: In this paper, a novel approach to a creation of self-propelled autonomous portable massage robots based on original 2D and 3D parallel mechanisms is presented. A 2D massage robot based on a triangular parallel structure with 3 d.o.f., called a Triangle, is designed for a sliding cupping-glass massage of back and chest. A 3D massage robot based on an octahedral parallel structure with 12 d.o.f., called an Octahedral dodekapod, is designed for a massage of neck, upper and lower extremities, including knee and elbow joints. Benefits of the Triangle and the Octahedral dodekapod with respect to anthropomorphic robots with one or two arms are outlined, along with possible applications for an autonomous massage.

KEYWORDS: massage robots, self-propelled portable masseurs, 2D and 3D parallel robots, modular robot, rehabilitation robots

REFERENCES:

[1] V. I. Dubrovsky and A. V. Dubrovskaya, Therapeutic massage. Moscow: GEOTARMedia, 2004 (in Russian).

[2] R. Bischoff, J. Kurth, G. Schreiber, R. Koeppe, A. Albu-Schäffer, A. Beyer, O. Eiberger, S. Haddadin, A. Stemmer, G. Grunwald, and G. Hirzinger, “The KUKA-DLR Lightweight Robot arm-a new reference platform for robotics research and manufacturing,” in: Proceedings of the Robotics (ISR), 2010 41st international symposium on and 2010 6th German conference on robotics (ROBOTIK). VDE Verlag GmbH, Berlin, 2011, pp. 741-748.

[3] J.-P. Merlet, Parallel Robots. 2nd ed. Dordrecht: Springer, 2006.

[4] V. Golovin, M. Arkhipov, and V. Zhuravlev, “Force training for position/force control of massage robots,” in New Trends in Medical and Service Robots. Springer International Publishing, 2014, pp. 95-107.

[5] Y. Huang, J. Li, Q. Huang, and C. Liu, “Design and control of anthropomorphic BIT soft arms for TCM remedial massage,” in: Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 3-7, 2013. IEEE, 2013, pp. 1960-1965.

[6] EMMA, The Robot Therapist. Innovation - The Singapore Magazine of Research and Technology and Education, Volume 15, Number 1, 2016, http://www.innovationmagazine.com/volumes/ v15n1/in-brief2.html

[7] S. N. Sajapin and M. S. Sajapina, “Movable massaging apparatus and method for giving massage with use thereof,” Russian Patent 2 551 939, June 10, 2015.

[8] S. N. Sajapin, “Adaptive mobile spatial rehabilitation robotic arm and method of facilitating movements and diagnosis of patient using same,” Russian Patent 2 564 754, October 10, 2015.

[9] A. Sh. Koliskor, “Development and study of industrial robots based on l-coordinates,” Stanki i Instrument, no 12, pp. 21-24, December 1982 (in Russian).

[10] R. Belisle, C. H. Yu, R. Nagpal, “Mechanical Design and Locomotion of Modular-Expanding Robots,” in: Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, USA, May 3-8, 2010. IEEE, 2010, pp. 17-23.

[11] S. N. Sajapin and A. V. Sinev, “Adaptive mobile 3D manipulator robot and method of organising displacements and control over physical mechanical properties, geometrical shape of contact surface and displacement trajectory hereby,” Russian Patent 2 564 754, July 27, 2011.

[12] S. N. Sayapin, Parallel Spatial Robots of Dodecapod Type, Journal of Machinery Manufacture and Reliability, Vol. 41, No. 6, 2012, pp. 457–466.

WSEAS Transactions on Computers, ISSN / E-ISSN: 1109-2750 / 2224-2872, Volume 16, 2017, Art. #14, pp. 124-132


Copyright © 2017 Author(s) retain the copyright of this article. This article is published under the terms of the Creative Commons Attribution License 4.0

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