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Title:: Research progress and key technology analysis of massage robot at home and abroad

作者:: 孙晨飞1; 唐心意1; 石萍1; 喻洪流1; 2△; （1.上海理工大学健康科学与工程学院康复工程与技术研究所，上海 200093；2.上海康复器械工程技术研究中心，上海 200093）

Author(s):: SUN Chenfei1; TANG Xinyi1; SHI Ping1; YU Hongliu1; 2; （1.Institute of Rehabilitation Engineering and Technology, School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China；2.Shanghai Engineering Research Center of Assistive Devices, University of Shanghai for Science and Technology, Shanghai 200093）

Keywords:: Massage; Chinese medicine massage; Rehabilitation robot; Autonomous perception; Force control

摘要:: 本文从按摩治疗机理角度出发，对国内外按摩机器人及其关键技术进行了详细介绍，将按摩机器人按结构特点分为仿生式、便携式和平台式三类，并对每一类按摩机器人的研究进展进行了归纳总结。针对研究进程中手法实现、信息感知、控制策略等关键问题进行了分析和梳理，最后基于目前研究现状，展望了按摩机器人的发展趋势。

Abstract:: From the perspective of massage therapy mechanism, the massage robot and its key technologies at home and abroad are summarized. Massage robots are divided into bionic, portable, platform types according to their structural characteristics, and the research progress of each type of massage robots is summarized. This paper analyzes and sorts out some key problems in the research process, such as manipulation realization, information perception and control strategy, and finally the development trend of massage robot is prospected based on the current research status.