A Residential Robot for Chinese Cupping Physiotherapy

Mingtian Tan; Bowen Gu; Chenxi Gu; Yangzeshen Lu; Leach Mark; Quan Zhang; Qinglei Bu

doi:10.1007/978-3-031-70684-4_27

A Residential Robot for Chinese Cupping Physiotherapy

Mingtian Tan^*
, Bowen Gu
, Chenxi Gu
, Yangzeshen Lu
, Leach Mark
, Quan Zhang
, Qinglei Bu

^*Corresponding author for this work

Xi'an Jiaotong-Liverpool University

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

Chinese cupping physiotherapy is integral to traditional Chinese medicine but is labor-intensive and requires expertise. Recent advancements in automating traditional Chinese therapies involve large mechanical systems with computer vision, which may not be practical for residential use. Our research focuses on developing residential robots for cupping therapy, specifically designed for Chinese elderly individuals. These robots utilize a specialized gripper integrated with a compact robotic arm featuring a 63.3-centimeter reach and a suitable base for home placement. Employing an STM32 controller with magnetic encoders, we establish closed-loop control for the stepper motor, ensuring precise grip control and smooth trajectory. Experimental comparisons between open-loop and closed-loop systems underscore the significance of the latter in preventing step losses in the 2nd-axis and 3rd-axis stepper motors. Additionally, we validate the acceleration of each axis during movement using exact DH parameters and MATLAB robot toolbox simulations, which could meet the necessary requirements for this innovative approach.

Original language	English
Title of host publication	Robot Intelligence Technology and Applications 8 - Results from the 11th International Conference on Robot Intelligence Technology and Applications
Editors	Anwar P.P. Abdul Majeed, Eng Hwa Yap, Pengcheng Liu, Xiaowei Huang, Anh Nguyen, Wei Chen, Ue-Hwan Kim
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	321-335
Number of pages	15
ISBN (Print)	9783031706837
DOIs	https://doi.org/10.1007/978-3-031-70684-4_27
Publication status	Published - 2024
Event	11th International Conference on Robot Intelligence Technology and Applications, RiTA 2023 - Taicang, China Duration: 6 Dec 2023 → 8 Dec 2023

Publication series

Name	Lecture Notes in Networks and Systems
Volume	1132 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	11th International Conference on Robot Intelligence Technology and Applications, RiTA 2023
Country/Territory	China
City	Taicang
Period	6/12/23 → 8/12/23

Keywords

3D Printing
Cupping therapy
MATLAB
STM32
SolidWorks

Access to Document

10.1007/978-3-031-70684-4_27

Cite this

Tan, M., Gu, B., Gu, C., Lu, Y., Mark, L., Zhang, Q., & Bu, Q. (2024). A Residential Robot for Chinese Cupping Physiotherapy. In A. P. P. Abdul Majeed, E. H. Yap, P. Liu, X. Huang, A. Nguyen, W. Chen, & U.-H. Kim (Eds.), Robot Intelligence Technology and Applications 8 - Results from the 11th International Conference on Robot Intelligence Technology and Applications (pp. 321-335). (Lecture Notes in Networks and Systems; Vol. 1132 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-70684-4_27

Tan, Mingtian ; Gu, Bowen ; Gu, Chenxi et al. / A Residential Robot for Chinese Cupping Physiotherapy. Robot Intelligence Technology and Applications 8 - Results from the 11th International Conference on Robot Intelligence Technology and Applications. editor / Anwar P.P. Abdul Majeed ; Eng Hwa Yap ; Pengcheng Liu ; Xiaowei Huang ; Anh Nguyen ; Wei Chen ; Ue-Hwan Kim. Springer Science and Business Media Deutschland GmbH, 2024. pp. 321-335 (Lecture Notes in Networks and Systems).

@inproceedings{dc3831aff1d24121ab66f7ebbe1ed11c,

title = "A Residential Robot for Chinese Cupping Physiotherapy",

abstract = "Chinese cupping physiotherapy is integral to traditional Chinese medicine but is labor-intensive and requires expertise. Recent advancements in automating traditional Chinese therapies involve large mechanical systems with computer vision, which may not be practical for residential use. Our research focuses on developing residential robots for cupping therapy, specifically designed for Chinese elderly individuals. These robots utilize a specialized gripper integrated with a compact robotic arm featuring a 63.3-centimeter reach and a suitable base for home placement. Employing an STM32 controller with magnetic encoders, we establish closed-loop control for the stepper motor, ensuring precise grip control and smooth trajectory. Experimental comparisons between open-loop and closed-loop systems underscore the significance of the latter in preventing step losses in the 2nd-axis and 3rd-axis stepper motors. Additionally, we validate the acceleration of each axis during movement using exact DH parameters and MATLAB robot toolbox simulations, which could meet the necessary requirements for this innovative approach.",

keywords = "3D Printing, Cupping therapy, MATLAB, STM32, SolidWorks",

author = "Mingtian Tan and Bowen Gu and Chenxi Gu and Yangzeshen Lu and Leach Mark and Quan Zhang and Qinglei Bu",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.; 11th International Conference on Robot Intelligence Technology and Applications, RiTA 2023 ; Conference date: 06-12-2023 Through 08-12-2023",

year = "2024",

doi = "10.1007/978-3-031-70684-4\_27",

language = "English",

isbn = "9783031706837",

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Tan, M, Gu, B, Gu, C, Lu, Y, Mark, L , Zhang, Q & Bu, Q 2024, A Residential Robot for Chinese Cupping Physiotherapy. in APP Abdul Majeed, EH Yap, P Liu, X Huang, A Nguyen, W Chen & U-H Kim (eds), Robot Intelligence Technology and Applications 8 - Results from the 11th International Conference on Robot Intelligence Technology and Applications. Lecture Notes in Networks and Systems, vol. 1132 LNNS, Springer Science and Business Media Deutschland GmbH, pp. 321-335, 11th International Conference on Robot Intelligence Technology and Applications, RiTA 2023, Taicang, China, 6/12/23. https://doi.org/10.1007/978-3-031-70684-4_27

A Residential Robot for Chinese Cupping Physiotherapy. / Tan, Mingtian; Gu, Bowen; Gu, Chenxi et al.
Robot Intelligence Technology and Applications 8 - Results from the 11th International Conference on Robot Intelligence Technology and Applications. ed. / Anwar P.P. Abdul Majeed; Eng Hwa Yap; Pengcheng Liu; Xiaowei Huang; Anh Nguyen; Wei Chen; Ue-Hwan Kim. Springer Science and Business Media Deutschland GmbH, 2024. p. 321-335 (Lecture Notes in Networks and Systems; Vol. 1132 LNNS).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

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AU - Lu, Yangzeshen

AU - Mark, Leach

AU - Zhang, Quan

AU - Bu, Qinglei

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N2 - Chinese cupping physiotherapy is integral to traditional Chinese medicine but is labor-intensive and requires expertise. Recent advancements in automating traditional Chinese therapies involve large mechanical systems with computer vision, which may not be practical for residential use. Our research focuses on developing residential robots for cupping therapy, specifically designed for Chinese elderly individuals. These robots utilize a specialized gripper integrated with a compact robotic arm featuring a 63.3-centimeter reach and a suitable base for home placement. Employing an STM32 controller with magnetic encoders, we establish closed-loop control for the stepper motor, ensuring precise grip control and smooth trajectory. Experimental comparisons between open-loop and closed-loop systems underscore the significance of the latter in preventing step losses in the 2nd-axis and 3rd-axis stepper motors. Additionally, we validate the acceleration of each axis during movement using exact DH parameters and MATLAB robot toolbox simulations, which could meet the necessary requirements for this innovative approach.

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Tan M, Gu B, Gu C, Lu Y, Mark L , Zhang Q et al. A Residential Robot for Chinese Cupping Physiotherapy. In Abdul Majeed APP, Yap EH, Liu P, Huang X, Nguyen A, Chen W, Kim UH, editors, Robot Intelligence Technology and Applications 8 - Results from the 11th International Conference on Robot Intelligence Technology and Applications. Springer Science and Business Media Deutschland GmbH. 2024. p. 321-335. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-031-70684-4_27