Design of Pulse Diagnostic Robot for Traditional Chinese Medicine

In this paper we present an automatic pulse taking robot for Traditional Chinese Medicine based on optimal designed Stewart platform. We first analyzed geometry of adult human wrists near pulse taking cun-guan-chi positions with an active stereo vision system to obtain a list of requirements for the robot. Then a seven degree-of-freedom Stewart platform is designed and optimized to match the requirements. With 3D printing and off-the-shelf parts, we developed a novel pulse taking robot that is capable of taking pulse data automatically, without any doctor’s intervention.