Design and realization of acupoint tapping massage system with three degrees of freedom based on STM32

Abstract

In order to realize automatic tapping massage on the acupoints on the back of the human body, this paper presents a method for implementing a three-degree-of-freedom point tapping massage system based on STM32. After building a mechanical structure based on a three-degree-of-freedom rectangular coordinate mobile platform, STM32 is used to control the movement and tapping actions of the three-degree-of-freedom platform. Secondly, the man-machine interactive interface of the system is written with python, which provides automatic and manual system operation modes to massage specific acupoints. Through the human body massage test, the two different system operation modes, automatic and manual, can meet the basic requirements, verifying the feasibility of the control system.