Plan of Control System for the Uni-Acupoint Massage Device

The principal parts incorporate a Microcontroller Unit (MCU), 2 direct-current engine drive chips, power transformation chips, light-emanating diode (LED), switch, and keys. 

The MCU gathers the situation with the switch and the keys, and results the beat width tweak (PWM) sign to the engine drive chip, as per the set back rub cycle and back rub force, to control the development of the two engines. To be versatile and wearable, and to decrease space, this article uncommonly planned two back rub gadget control circuit sheets. One of them chiefly understands the human-machine connection work and coordinates the keys, LED, and power interface. The other one incorporates a MCU and engine drive chips. A level link is utilized for information transmission between the two circuit sheets.

This gadget utilizes three critical changes to change the back rub force: key1, key2, and key3 compare to rub powers of 15 N, 30 N, and 45 N, individually. The MCU yields three PWM signs to control the three working conditions of the two engines. PWM0 controls the alternating activity of the pivoting system, PWM1 controls the loosening up activity of the squeezing component, and PWM2 controls the squeezing activity of the squeezing instrument.

When key1 is squeezed, the acupoint knead gadget works as indicated by gear 1. In the first place, the PWM2 yield makes the worm gear engine run for 10 s. As of now, the back rub head gradually moves to the acupoints until it contacts the acupoints and applies knead force. After 10 s running time, 15 N knead force is applied. Then the three-way PWM is completely shut for 10 s, and the back rub head contacts the acupoints and applies a consistent power to keep the acupoints in a non loosening up low-force feeling state. From that point onward, PWM0 yields a 100 percent obligation cycle to make the turning engine run for 10 s, drive the back rub head to play out a rotational development, mimic the activity of working, and drive the subcutaneous tissue, to deliver a relating development. At last, PWM0 and PWM2 are shut, and PWM1 yield makes the squeezing engine run backward for 10 s, to return the back rub head to the underlying position. In this interaction, the back rub force progressively diminishes until it vanishes. At the point when there is no new sign information, the framework will rehash the above cycle.

Foundation of a Contact Model

To break down the back Dynamic rub force applied by the gadget to the acupoints during acupoint rub, it is important to lay out an acupoint rub gadget human body coupling dynamic model. Two models of the acupoint rub gadget and human skin tissue ought to be thought of.

Since the uni-acupoint knead gadget depends on the series flexible inciting rule, the impact of the damping term can be overlooked; a worked on unique model of the acupoint rub gadget is displayed in Figure 6. That is, the engine of the squeezing system changes the position S of the portable stage M1 through the worm gears, correspondingly drives the pressure of the spring K1, lastly causes the back rub head M2 to move, to yield a power constrained by the pressure measure of spring K1 to the back rub head.

Rub Force Simulation and Experimental Analysis

Grating Experiment

As indicated by the man-machine contact dynamic model in Section 3, a hypothetical reenactment model is laid out to recreate and investigate the human-machine contact force. In the reenactment, the development speed of the moving plate in the back rub 부천오피 gadget is 0.85 mm/s, and the solidness coefficient of the spring in the uni-acupoint knead gadget is 3.96 N/mm. The solidness coefficient of human skin tissue is 165.02 N/m, and the damping coefficient is 0.00026 Ns/mm. The mass of the back rub head is 0.0217618 kg.

The abscissa in the Figure is the moving distance of the moving plate driven by the squeezing engine, and the ordinate is the squeezing force. 

The dark straight line is the tension when the back rub gadget contacts the unbending contact surface, and the red bend is the strain reenactment result when the back rub gadget contacts the mimicked human skin tissue. It tends to be seen from the Figure, that when the contact surface is an inflexible plane, the contact force is straightforwardly corresponding to the moving distance of the moving plate (i.e., the moving distance of the back rub head). Whenever the contact plane reproduces human skin tissue, the result heap of the back rub gadget shows a specific vacillation affected by viscoelastic damping. At the point when the removal is inside 1 mm, the squeezing adequacy is higher than the time following up on the inflexible contact surface for a piece of the time, because of the impact of contact solidness, and the sufficiency hole steadily increments with the increment of dislodging. At 10 mm removal, the hole arrives at 1.88 N, which is 4.75% lower than the contact power of the inflexible plane.

In the investigation, the absolute weight of the model and silica gel cushion was around 10 N, which should be taken out from the recorded power information. It very well may be seen from the figure that the exploratory outcomes match the reproduction information of the recreated skin tissue, and the decency of fit R2 is 0.9809. At the underlying phase of beginning the back rub gadget, the result power of the model investigation was somewhat not exactly that of the human skin reproduction; while the moving place of the moving plate from 3 to 7 mm, the exploratory outcomes were around same; when it was near 10 mm, the trial yield power of the model turned out to be steadily not exactly the reenactment results. Contrasted and the reproduction information of the recreated skin tissue, the mistake was essentially brought about by mechanical transmission blunder and model blunder between the silicone elastic and genuine skin tissue. During the entire investigation, the pinnacle yield heap of the uni-acupoint rub gadget was 33.71 N. Contrasted and the consequences of the inflexible plane recreation, the pinnacle distinction of result load was 5.89 N, which was decreased by 14.9%.

In the uni-acupoint knead gadget planned in this paper, the regulator changes the obligation pattern of the control signal PWM2 when the engine is pushed somewhere near perusing the worth of the keys, to accomplish the reason for changing the moving distance of the moving plate. The obligation pattern of the PWM2 signal relating to key2 and key3 is 2 and multiple times that of key1, and control the engine, to drive the moving plate to move at a steady speed that is 2 or multiple times the speed of key1 for a specific timeframe. 

Assuming the acting surface is an inflexible contact surface, the moving distance of the moving plate relating to key2 and key3 is 2 and multiple times that of key1, and the strain increments dramatically. Notwithstanding, in touch with human skin tissue 서울오피, the strain has non-straight variety , despite the fact that there is a sure blunder, the tension is still almost twice and multiple times. For acupoint rub, the size of the back rub force is compelling inside a specific reach, and the control exactness of the power needn't bother with to be extremely high. Contrasted and the expense of other uni-acupoint knead gadgets, the technique for changing the back rub force chosen in this paper, in light of the series flexible activating rule, is attractive.