A Residential Robot for Chinese Cupping Physiotherapy

Chinese cupping physiotherapy is integral to traditional Chinese medicine but is labor-intensive and requires expertise. Recent advancements in automating traditional Chinese therapies involve large mechanical systems with computer vision, which may not be practical for residential use. Our research focuses on developing residential robots for cupping therapy, specifically designed for Chinese elderly individuals. These robots utilize a specialized gripper integrated with a compact robotic arm featuring a 63.3-centimeter reach and a suitable base for home placement. Employing an STM32 controller with magnetic encoders, we establish closed-loop control for the stepper motor, ensuring precise grip control and smooth trajectory. Experimental comparisons between open-loop and closed-loop systems underscore the significance of the latter in preventing step losses in the 2nd-axis and 3rd-axis stepper motors. Additionally, we validate the acceleration of each axis during movement using exact DH parameters and MATLAB robot toolbox simulations, which could meet the necessary requirements for this innovative approach.