A Massage Area Positioning Algorithm for Intelligent Massage System

Figure 8

The massage area determination process: (a) the candidate area T is determined by pointing lines; (b) the area, selection probability, and central probability of the small area contained in area T are found; (c) the robot arm moves to the preferred point determined by Equation (2) and initiates a query to the user; (d) a positive response is obtained from the user, which leads to the determination of the massage area and the massage point.

(a)

(b)

(c)

(d)