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In the theory of traditional Chinese medicine, acupoints refer to special points and areas on the meridian line of the human body. Traditional Chinese medicine believes that the application of unique techniques such as pressing, kneading, rubbing, pushing, and patting to acupoints or massage with the help of specific tools has the effects of promoting blood circulation, dredging meridians, and eliminating fatigue. At present, most automatic massage devices are for large-area massage of the trunk, and few are specifically for acupoint massage of the limbs. First, this paper analyzes the characteristics of traditional Chinese medical acupoint massage and then obtains the design index of an automatic acupoint massage device. After that, based on the principle of a series elastic actuating mechanism, a flexible uni-acupoint massage device and control system, imitating the acupoint massage technique of traditional Chinese medicine, were designed. In order to analyze the massage force of the massage device, the man–machine contact dynamic model of the massage device was established, and the force of the massage device was simulated and analyzed. Finally, an experimental platform was built to verify the massage force and massage process of the massage device. The experimental results show that the massage device designed in this paper meets the indexes of traditional Chinese medical massage, in terms of the massage process and massage force, and verify the rationality of the design.

Design and Massaging Force Analysis of Wearable Flexible Single Point Massager Imitating Traditional Chinese Medicine