Soft Four-Leaf Clover Physiotherapy Robot for Traditional Chinese Medicine Massage Physiotherapy

Abstract

The new coronavirus may cause some people to be in a state of physical suboptimal health and leave behind sequelae. This article uses traditional Chinese medicine (TCM) massage physiotherapy to effectively prevent and alleviate the body suboptimal health condition, we design a pneumatic soft four-leaf clover physiotherapy robot that is both portable, safe and universally applicable. An embedded control system with a micro controller is set up, which solves the problem that the traditional physiotherapy robot has a single physiotherapy site. Combined with acupuncture point physiotherapy and TCM massage physiotherapy, the relevant motion control strategy is developed to regulate physical health condition, which effectively alleviates the symptoms caused by suboptimal health. Then, the proposed strategy to the control system is applied, the characteristics related to soft physical therapy robots is analyzed. Finally, some experiments are conducted to verify the feasibility of the proposed strategy.