N.E. Sadkovskaya1, V.I. Tarasov2, M.D. Udodova3, A.V. Nazarova4, A.O. Zhukov5

1 Moscow Aviation Institute (National Research University) (Moscow, Russia)
2 JSC «OKB MEI» (Moscow, Russia)
3,4 Bauman Moscow State Technical University (Moscow, Russia)
5 FSBI «Analytical Center» (Moscow, Russia)
5 FSBI «Institute of Astronomy of the Russian Academy of Sciences» (Moscow, Russia)
1 natsadkovskaya@yandex.ru, 2 vov1187@yandex.ru, 3 mariya_002001@inbox.ru, 4 avn6827@gmail.com,
5 aozhukov@mail.ru

Collaborative robots, for medical purposes, for example, for therapeutic massage, must ensure absolute patient safety. The main problem in the development of a massage robotic complex is the use of additional tips and trajectories for the movement of the working body of the manipulator.

Goal – development of algorithms for constructing massage trajectories of the organ of a working manipulator and the formation of massage trajectories of a collaborative robot in the CoppeliaSim simulator.

The problem of constructing safe massage trajectories for the purpose of carrying out the procedure with a robotic complex has been considered. Massage attachments for a collaborative robot have been developed. Methods for constructing massage trajectories using various neural network algorithms have been proposed. Massage trajectories were tested in the CoppeliaSim simulator.

Robotic complexes designed to perform medical massage help popularize massage as a method of treating and preventing various diseases, and make it possible to perform the procedure on a large number of patients at the same time. One massage robotic complex can provide several types of massage.

Sadkovskaya N.E., Tarasov V.I., Udodova M.D., Nazarova A.V., Zhukov A.O. Development of algorithms for constructing and testing massage trajectories by a collaborative robot. Science Intensive Technologies. 2023. V. 24. № 7. P. 58−66. DOI: https://doi.org/10.18127/ j19998465-202307-07 (in Russian)

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