Development of intelligent massage manipulator and reconstruction of massage process path using image processing technique

This paper develops a motor-driven massage artificial electro-mechanical manipulator system with intelligent biomedical sensing-monitoring capabilities and constructs the path of massage process by using CCD image processing technique. In this paper, we integrate a versatile inter-digital electrocardiograph (ECG) into the manipulator system and construct a massage path by using twin CCD image processing technique with inverse engineering method. So, this electro-mechanical manipulator can automatically do the full massage process including pushing, pick-up and kneading actions to get the best therapy effect. By capturing the variant signals of the cardiovascular physiological parameters from the versatile inter-digital electrocardiograph, we can understand and analyze the physiological reaction due to the massage action and then try further to improve the therapy effect of massage. In the meantime, we have imitated a real human´s palm with finger´s action to design a human-like mechanical palm and accomplished the actions of massage including “pushing, picking-up, and kneading”, the most decisive technique is lying on the design of the fingers.