“Furthermore, combining massage techniques, this paper conducts an in-depth analysis of several typical massage methods from the kinematic and dynamic perspectives, designs corresponding mechanical massage hands, and uses robotic technology to replicate and automate these traditional techniques.”

To develop their new masseuse robot, the team first had to observe and collect data from expert TCM massage therapists. This was done using a combination of motion capture and pressure sensors.

This data was then used to train a machine-learning algorithm that would ultimately form the basis of the “brain” of the new robot.