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<p>To address the growing demand for moxibustion therapy among maritime personnel exposed to harsh environmental conditions, this study proposes a novel household moxibustion robot integrated with a clean smoke recovery system. The primary challenge lies in mitigating indoor pollution caused by moxibustion smoke, which contains harmful PM2.5 particles and toxic gases. We developed a mathematical model and employed computational fluid dynamics (CFD) simulations to analyze smoke flow dynamics under varying vacuum pressures (330–660&#xa0;Pa). A prototype featuring a six-degree-of-freedom manipulator and a vacuum-driven smoke recovery unit was designed, utilizing dual-layer activated carbon filtration. Experimental validation demonstrated that a vacuum pressure of 330&#xa0;Pa achieves effective smoke recovery with no visible smoke particles escaping within 4&#xa0;s, accompanied by minimal noise (40–45&#xa0;dB). Concurrently, human skin heating experiments revealed that maintaining a 3.6&#xa0;cm distance between the moxibustion ignition point and the epidermis ensured a stable therapeutic temperature of 43&#xa0;°C, avoiding thermal injury. The system’s compact design, low energy consumption (max 7.2&#xa0;kWh/year), and scalability highlight its suitability for confined maritime and residential environments. Future work will focus on air quality quantification, multi-environment adaptability testing, and energy efficiency enhancements. This research pioneers a sustainable solution for safe and automated moxibustion therapy, bridging traditional medicine with modern robotics.</p>

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Method and experimental research on smoke recovery of a household clean moxibustion robot

  • 期刊论文

  • 发表日期：

    2025年4月1日

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  • Zhengyao Yi,
  • Jiasheng Zhu,
  • Tianci Yang,
  • Bobo Shi,
  • Xiaoxiao Chen,
  • Yilin Chen,
  • Haoyu Yuan,
  • Bingxing Feng

摘要

To address the growing demand for moxibustion therapy among maritime personnel exposed to harsh environmental conditions, this study proposes a novel household moxibustion robot integrated with a clean smoke recovery system. The primary challenge lies in mitigating indoor pollution caused by moxibustion smoke, which contains harmful PM2.5 particles and toxic gases. We developed a mathematical model and employed computational fluid dynamics (CFD) simulations to analyze smoke flow dynamics under varying vacuum pressures (330–660 Pa). A prototype featuring a six-degree-of-freedom manipulator and a vacuum-driven smoke recovery unit was designed, utilizing dual-layer activated carbon filtration. Experimental validation demonstrated that a vacuum pressure of 330 Pa achieves effective smoke recovery with no visible smoke particles escaping within 4 s, accompanied by minimal noise (40–45 dB). Concurrently, human skin heating experiments revealed that maintaining a 3.6 cm distance between the moxibustion ignition point and the epidermis ensured a stable therapeutic temperature of 43 °C, avoiding thermal injury. The system’s compact design, low energy consumption (max 7.2 kWh/year), and scalability highlight its suitability for confined maritime and residential environments. Future work will focus on air quality quantification, multi-environment adaptability testing, and energy efficiency enhancements. This research pioneers a sustainable solution for safe and automated moxibustion therapy, bridging traditional medicine with modern robotics.