发表机构
ETH Zürich（苏黎世联邦理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出头戴式按摩机器人MiBOT，采用气动人工肌肉实现静音类人按摩，经对照研究证实其可降低受试者血压与心率，为头部按摩机器人研发提供了有效方案。
AI 中文摘要
按摩疗法有助于多种疾病的康复，如偏头痛引发的头痛及压力相关问题。现有机器人系统多聚焦于躯干和四肢的按摩，但通过合适驱动在头部完成按摩动作是一项挑战。本文提出MiBOT，一款头戴式按摩机器人，它驱动两个轻柔触觉器产生模拟人类按摩的触摸动作。MiBOT的核心设计原则是静音驱动，该功能通过气动人工肌肉结合响应接触压力的控制回路实现。我们在对照研究中评估了MiBOT的有效性，测量受试者使用MiBOT时的血压和心率水平。研究发现，该机械系统产生了与人工按摩相似的积极且明确的定量结果，使受试者的平均收缩压降低2.8 mmHg，舒张压降低1.7 mmHg，心率平均降低8%-10%。
英文摘要
Massage therapy is helpful for the rehabilitation of various diseases, such as headaches caused by migraines and stress. Existing robotic systems have focused on massage therapy on the torso and limbs, but performing massage motions through suitable actuation on a person's head has been a challenge. In this paper, we present MiBOT, a head-worn massage robot that actuates two soft tactors to produce touch motions mimicking human massage. A key design principle behind MiBOT is its silent actuation, which we achieve through pneumatic artificial muscles in conjunction with a controller loop to respond to contact pressure. We evaluated the effectiveness of MiBOT in a controlled study and assessed subjects' blood pressure and heart rate levels while applying MiBOT. We found that our mechanical system generated positive and conclusive quantitative outcomes that are similar to the human-administered massage, decreasing participants' mean systolic and diastolic blood pressure by 2.8 mmHg and 1.7 mmHg, respectively, as well as calming their heart rate by 8-10% on average.
CommentsPublished at 2024 IEEE International Conference on Robotics and Automation (ICRA)
DOI：10.1109/ICRA57147.2024.10610867
