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分析了中医推拿中垂直用力、平面用力及旋转用力的推法、按法、滚法、摩法、揉法、擦法、拍法、振法和击法等九种推拿手法的运动学和动力学,得出了要实现各种手法所需要的自由度数及各个自由度施力的情况、速度大小、动作频率,同时给出了一种可同时完成以上推拿手法的并联机器人机型.为机器人模拟中医推拿手法提供了理论依据.
Abstract：The kinematics and dynamics characteristics of nine Chinese medical massage techniques including vertical, plane and rotating exerting, such as pushing, pressing, rolling, rubbing, kneading, scrubbing, patting, fluttering and striking methods were studied. The degree of freedom, the orientation, the velocity and the frequency of every massage technique were obtained. At the same time, a kind of massage manipulator that could meet the requirements in massage technique was developed. It provided the theoretical foundation for the manipulator to simulate the Chinese massage techniques.
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[4]马履中,王劲松,杨启志,等.基于一种新型并联机构中医推拿机器人[J].武汉:中国机械工程,2004,15(16):1475-1478.
基本信息:
DOI：
中图分类号:R244.1
引用信息:
[1]余顺年,马履中,郭宗和.中医推拿手法运动学与动力学特征分析[J].山东理工大学学报(自然科学版),2005(03):82-85.
基金信息:
国家自然科学基金资助项目(50375067);; 福建省高等学校科技项目(JAO04231)