Vadim Golovin*,Aleksey Samorukov,Maksim Arkhipov,Liudmila Kocherevskaya
The possibilities of manipulative robots to perform techniques of restorative massage, increasing the psychophysiological mood of the working population in order to increase the productivity of labor are considered in this article. The robot control making possible to perform a mass preventive massage is offered. Most of the studies were carried out using the so-called force points trained on robots with one-dimensional force training. The more convenient and quick training method by demonstration is proposed. At the same time, the unloading of the masseur’s hand and the accuracy of reproduction of trained trajectories are provided to a much greater degree. The hand of the masseur by means of the massage tool deforms the patient's soft tissues. To teach by the demonstration of spatial trajectories, the robot is in admittance control mode, without resisting the movements of the masseur’s hand, fixed on the robot end link. In admittance control mode, the robot tracks exactly the movements of the masseur’s hands or corrects them with the necessary force. Currently, there are robots with force control, which can organize the required admittance control mode. These robots are not specialized to perform mode massage and are not mass-produced, so they are quite expensive. If the demand increases, the cost would be much lower. Studies that will determine the techniques for performing robotic massage are needed. As an initial basis, methods of manual restorative and sports massage can be taken.
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