Chinese robot masters massage techniques, pinches, vibrates with human-like hands - Yahoo! Voices

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Christopher McFadden

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Researchers from Shanghai Jiao Tong University and the University of Shanghai for Science have successfully developed a new robot that uses traditional Chinese medicine (TCM) techniques to give massages. This new robot could eventually find a place in healthcare, wellness, and rehabilitation facilities as an additional patient therapeutic tool.

"We adopt an adaptive admittance control algorithm to optimize force and position control, ensuring safety and comfort," wrote Yuan Xu, Kui Huang, Weichao Guo, and Leyi Du in their paper published in the journal arXiv.

"The paper analyzes key TCM techniques from kinematic and dynamic perspectives and designs robotic systems to reproduce these massage techniques," they added.


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The as-yet-unnamed robot uses jaka zhu7 robotic arms, each with a multi-functional massage hand installed at their ends. These "hands" have been meticulously designed to mimic the approximate size and shape of a human hand.

Chinese TCM-trained robot masseuse​


According to the team, the robot's hands have four operation modes, each emulating different TCM massage techniques, such as the concept of zang-fu organs and meridians. To this end, the hands can perform palm punch, vibration, kneading, and finger technique function modules.

Each function requires different hardware tools to perform tasks like turning the hand into a fist or providing directed vibration to an area. Others, like the kneading function, employ a specially designed "kneading motor" that allows the robot to "pinch" the user's back.

"We adopted a compliance control algorithm based on adaptive admittance control, aiming to optimize force and position control to address challenges such as patient posture changes and muscle stiffness differences, ensuring the safety and comfort of the massage process," wrote Xu, Huang, and their colleagues.


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"Furthermore, combining massage techniques, this paper conducts an in-depth analysis of several typical massage methods from the kinematic and dynamic perspectives, designs corresponding mechanical massage hands, and uses robotic technology to replicate and automate these traditional techniques."

To develop their new masseuse robot, the team first had to observe and collect data from expert TCM massage therapists. This was done using a combination of motion capture and pressure sensors.

This data was then used to train a machine-learning algorithm that would ultimately form the basis of the "brain" of the new robot.

Yet to be tested on people​


"Through the introduction of these technologies, this paper provides theoretical support and practical guidance for the robotic implementation of massage techniques, promoting the integration of traditional Chinese massage with modern robotics and opening up new application prospects for assistive therapeutic methods," explained Xu, Huang, and their colleagues.


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The team also tested their robot design in the real world to assess its ability to replicate different TCM massage techniques accurately. The results confirmed that the robot effectively performed its four primary massage techniques.

The team hopes to test the robot on human users to assess its ability further and gauge how humans respond to it. They hope that this study will encourage further research into automated massage systems, potentially encompassing other massage styles as well.

The complete study can be found in the journal arXiv.
 
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    Thursday at ๐ŸŒด๐Ÿ˜Ž๐ŸŒ…๐“—๐“ธ๐“ต๐“ฒ๐“ญ๐“ช๐”‚ ๐“ข๐“น๐“ช๐ŸŒ…๐Ÿ˜Ž๐ŸŒด3517 Kennedy Rd, Unit 4, Scarborough โ˜Ž๏ธ๐Ÿฐ๐Ÿฏ๐Ÿณ-๐Ÿฎ๐Ÿฐ๐Ÿณ-๐Ÿญ๐Ÿญ๐Ÿต๐Ÿตโ˜Ž๏ธ: ANGELA, LUCY & CINDY. Angela is versatile and responsive. LUCY is a beautiful and slim Asian lady with a happy disposition and great services. CINDY is a slim & incredibly sexy lady with a smile that will melt your heart, & an ass that will fire up your spirit.
  42. AliceSpa:
    THURSDAY at ๐—”๐—Ÿ๐—œ๐—–๐—˜ ๐—ฆ๐—ฃ๐—”.4915 Steeles Ave. E, Scarborough ๐Ÿฐ๐Ÿญ๐Ÿฒ-๐Ÿฎ๐Ÿต๐Ÿด-๐Ÿฌ๐Ÿด๐Ÿต๐Ÿด. 3 girls here today at ALICE SPA. Open 10am to 9pm: ASHLEY is a beautiful slim Korean student, snow white skin, 5'2, 100 Lbs, natural C Cup, pink nipples, baby face & voice, can accomodate bbbj cim cof rim dfk, excellent services. KITTY (12pm-9pm) is a new Korean girl, super busty, small body, new to the business.
  43. Lilyspa1:
    Lily Spa :๐Ÿ’•๐Ÿ’•Thursday Schedule ๐Ÿ‡ฎ๐Ÿ‡ณ๐Ÿ‡ฎ๐Ÿ‡ณSana 23, , Punjabi girl , very pretty 36 DDD ๐Ÿ˜ˆGFE โค๏ธElena ( Latino ) Big Nature Boobs & SuSu ( Asian )Slim , ๐Ÿ˜๐Ÿ˜Porn Service ๐Ÿ”ฅDuo ๐Ÿ”ฅ,โ˜Ž๏ธ 6475318288
  44. Moneylee:
    All season wellness center: Young girl big boobs beautiful face deep massage Helen ,Young girl big boobs beautiful face deep massage Tina ,Young girl big breasted beautiful buttocks charming temperament big boobs Cindy ,Student big boobs buttocks Vicky, Enchanting sexy petite deep massage Sherry ,๐Ÿ address: #5-30 Rambler dr Brampton ,Ontario L6W 1E2โ˜Ž๏ธ4376655510 ๐Ÿ‘…๐Ÿ‘…๐Ÿ‘„๐Ÿ‘„๐Ÿฆต๐Ÿฆต๐Ÿˆต๏ธ๐Ÿˆต๏ธ
  45. Moneylee:
    Full season wellness center: young girl pretty face nice figure Thai deep massage Vivian , pretty face nice figure Thai deep massage Yuki ,Young girl big breasted beautiful buttocks charming temperament big boobs Anjoo ,Young girl Big breasted saucy naughty Ella,Enchanting sexy petite deep massage Mary. 2560 Shepard ave Mississauga unit 1 .โ˜Ž๏ธ4379857899๐Ÿ‘…๐Ÿ‘…๐Ÿฆต๐Ÿฆต๐Ÿˆต๏ธ๐Ÿˆต๏ธ๐Ÿ‘„๐Ÿ‘„
  46. Funlooker:
    Introducing Funlooker - We are a high-class escort agency representing extremely beautiful, passionate, intelligent and sexual girls in Bangkok, Barcelona, Berlin, China, Kuala Lumpur, London, New York, Paris and Tokyo - funlooker.co
  47. SugarLoveSpa:
    Thursday at โค๏ธ๐Ÿ’™ ๐Ÿ’œโŽ๐—ฆ๐—จ๐—š๐—”๐—ฅ ๐—Ÿ๐—ข๐—ฉ๐—˜ ๐—ฆ๐—ฃ๐—”โŽ ๐Ÿ’–๐Ÿ’—๐Ÿ’˜: LUNA, MIA, SARA & TIFFANY. 1270 Finch Ave W (at Keele St), Unit 18. North York, ON โ˜Ž ๐Ÿฐ๐Ÿฏ๐Ÿณ-๐Ÿฏ๐Ÿฒ๐Ÿฑ-๐Ÿฎ๐Ÿฒ๐Ÿด๐Ÿด โ˜Ž LUNA is a slim, VERY PETITE and capable Vietnamese beauty, nice natural 34C Cups. Luna can do everything. MIA is a young & slim ๐™Ž๐™‹๐™„๐™‰๐™‰๐™€๐™, very PRETTY & PETITE Vietnamese beauty with perfect natural A Cups, 5โ€™1โ€ & 90 Lbs, very versatile. Come and enjoy.
  48. Golden Sunshine Spa:
    โœจClick on our Username and FOLLOW US for updates and special services ! โœ… Click Here Today๐ŸŒธCindy๐ŸŒธAletta๐ŸŒธJessica๐ŸŒธSelina๐ŸŒธNina Call us โ˜Ž 905 - 265 - 2158โ˜Ž๏ธ Your ultimate service awaits! โœจ
  49. Annie Spa:
    ๐ŸŽ‰๐Ÿ’ANNIE SPA๐ŸŽ‰๐Ÿ’ โœ…7-1001 SANDHURST CIRCLEโœ… ๐Ÿ‘ŒSCARBOROUGH ON M1V 1Z6๐Ÿ‘Œ โ˜Ž๏ธ (647) 891-9688โ˜Ž๏ธ โ˜Ž๏ธ (416) 291-8879โ˜Ž๏ธ (FINCH & MCCOWAN) OPEN 9:30am to 9pm MONDAY to SUNDAY ๐Ÿ”ฅโœ…NEW MANAGEMENT๐Ÿ’ฏNEW GIRLS๐Ÿ”ฅ๐Ÿ”ฅ ๐Ÿ”ฅGORGEOUS NEW YOUNG ASIAN GIRLS - TODAYโ€™s ROSTER INCLUDES: ๐Ÿ”ฅ Bobo๐Ÿ˜˜โค๏ธAn alluring and skilled new massage girl with an elegant presence and a warm, inviting aura. Her striking figure, accentuated by her graceful posture and her massive 36DD breasts, immediately puts clients at ease.
  50. bnwellness_wilson:
    We have 4 young girls are working today, young Fun Ivy 30โ€™s with big buttocks 36DD open mind and young student Taiwanese 25โ€™s slime open mind, young cute Tina 30โ€™s with sexy body open mind and sweet GFE Ella are providing deep tissue massage, pls call 4163985777 book appointment and walk in always welcome,back entrance and parking available, 350 Wilson Ave North York
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