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Design and Experimental Study of a New Flexible Driven Parallel Soft Massage Robot

Zhao, Yanzhi; Wei, Hang; Li, Pengbo; Li, Guoqing; Qi, Lizhe; Yu, Hongnian


Yanzhi Zhao

Hang Wei

Pengbo Li

Guoqing Li

Lizhe Qi


In recent years, the demand for massage robots has increased dramatically in the field of Medical care. Traditional massage robots are mostly rigid robots. Compared with rigid robots, soft robots are more suitable for massage because of their softness and safety. However, the existing soft robots can not provide much output force for massage. In this paper, a flexible-driven multi-parallel soft massage robot with large output force is designed, which can realize two massage techniques, palm-pressing and palm-kneading. The robot is composed of three groups of flexible driving elements in parallel. It has strong adaptability and flexibility in the environment. It can solve the problems of difficult motion control and low output force of traditional soft robots. The kinematics and mechanics of the robot are modeled and analyzed, and the finite element simulation analysis is carried out by using ABAQUS software. The prototype is made and the experimental test platform is set up for experimental verification.

Presentation Conference Type Conference Paper (Published)
Conference Name 12th International Conference, ICIRA 2019
Start Date Aug 8, 2019
End Date Aug 11, 2019
Online Publication Date Aug 2, 2019
Publication Date 2019
Deposit Date Jun 22, 2022
Publisher Springer
Pages 519-530
Series Title Lecture Notes in Computer Science
Series Number 11741
Series ISSN 1611-3349
Book Title Intelligent Robotics and Applications: 12th International Conference, ICIRA 2019, Shenyang, China, August 8–11, 2019, Proceedings, Part II
ISBN 978-3-030-27531-0
Public URL