Design of flexible flapping devices based on traditional Chinese medicine massage techniques

ObjectiveMore attention is paid to the quality of life and health under the great work pressure, and the health care effect of traditional Chinese medicine (TCM) massage to relieve the fatigue and promote the metabolism is more and more obvious. Flapping is an important technique in TCM massage. A flexible flapping device was proposed.MethodsThe reciprocating swing was realized with the help of a crank-rocker mechanism, and a flexible rotary joint was added at its end to complete the flapping action through the inertia. A posture-adjusting mechanism was designed to realize the flapping angle required by users. The dynamic model of flapping mechanism was established, and the dynamic parameters of outbound and return trips were analyzed to verify the feasibility of the flapping action. Then the measurement system of flapping was built to test the effect of the flapping speed on the flapping force.ResultsThe research has certain guiding significance for the design of TCM massage robots.