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发明公开
CN110074964A 基于三自由度并联机构的头部按摩器及头部按摩方法 无效 - 驳回

基于三自由度并联机构的头部按摩器及头部按摩方法
摘要：
本发明公开了一种基于三自由度并联机构的头部按摩器，包括静平台和动平台，动平台上设有用于按摩头部的按摩执行器；静平台和动平台之间设有用于控制动平台按照预设的路径移动并按摩头部和/或按照指定的按摩点按摩头部的至少三个三自由度并联机构；还包括按摩控制系统，按摩控制系统包括控制器和用于控制三自由度并联机构动作的控制电路，动平台上设有用于采集头部的图像信息的图像采集装置，控制器与控制电路电连接，且控制器接收来自图像采集装置采集到的头部的图像信息并生成与头部匹配的按摩路径和/或与头部匹配的按摩穴位点集后通过控制电路向三自由度并联机构发出控制指令。本发明还公开了一种基于三自由度并联机构的头部按摩方法。
摘要（英）：

The invention discloses a head massager based on 3-dof parallel mechanisms. The head massager comprises a static platform and a moving platform; a massage actuator used for massaging a head is arranged on the moving platform; at least three 3-dof parallel mechanisms used for controlling the moving platform to move along a preset route and to massage the head and/or massage the head according to designated massaging points are arranged between the static platform and the moving platform; the head massager further comprises a massage control system, and the massage control system comprises a controller and a control circuit used for controlling the action of the 3-dof parallel mechanisms; an image collecting device used for collecting head image information is arranged on the moving platform; the controller is connected with the control circuit, and the controller receives the head image information collected by the image collecting device, generates a massage route matched with the headand/or a massage acupuncture point set matched with the head and then sends out a control command to the 3-dof parallel mechanisms through the control circuit. The invention further discloses a headmassaging method based on the 3-dof parallel mechanisms.

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