Self-propelled autonomous 2D parallel robots for sliding cupping-glass massage for back and chest

There are numerous examples of effective using of sliding cupping-glass massage for disease prevention, treatment, rehabilitation, and removal of weariness. This is kind of massage including combination influences to patient’s back and chest by cupping-glasses and massage. However, work of masseur is connected with a big physical stress. Moreover, masseur can make the massage only with one patient by two hands. As a result daily productivity of the masseur is limited. Therefore advanced intelligence carried massage robots are needed for sliding cupping-glass massage, being able to work autonomously without the presence of the masseur. In this paper, a novel approach to a creation of intelligence self-propelled autonomous portable massage robot based on original 2D parallel mechanism is presented. This robot based on triangular parallel structure with 3 d.o.f., called the Triangle, is designed for sliding cupping-glass massage for back and chest. Main massage manipulations of robot are presented along with a description of proposed locomotion algorithms. Locomotion and manipulation experiments are performed by pneumatic prototypes. We examine design principles of the Triangle as future intelligent base block for various rehabilitation and other robotic systems that can self-propelled and self-reconfigure