Study of the Force-Moment Sensing System of a Manipulative Robot in Contact Situations with Tenzoalgometry of Soft Biological Tissues

摘要

The active development of robotics, which is taking place today within the framework of the new economic paradigm "4th technological revolution", opens up new opportunities in many areas, including medicine. One of the topical directions for the health care system of economically developed countries is the improvement and clinical application of robotic manipulation mechanotherapy complexes. The Russian medical manipulation robot presented in the article, previously developed and patented, has not only a priority for domestic medicine, but also raises unresolved issues of intelligent situational behavior of the robot, intelligent control of complex dynamic objects, the operator-robot interface, its safety for the patient and the doctor. The article provides models for the development of software for a robotic manipulative mechanotherapy complex based on technologies for providing a biological feedback. Consideration of the development of original parameters for assessing the biomechanical characteristics of soft tissues. An algorithm for tuning the diagnostic unit of a manipulation robot for measuring the biomechanical characteristics of soft tissues is shown. The description and results of the development of a software data processing system using a diagnostic unit of a manipulation robot are given.