{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,13]],"date-time":"2026-10-13T14:45:04Z","timestamp":1791902704258,"version":"4.3.4"},"reference-count":30,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc\/4.0\/"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100019978","name":"Shanghai Pudong New Area Health Commission","doi-asserted-by":"publisher","award":["PDZY-2023-1101"],"award-info":[{"award-number":["PDZY-2023-1101"]}],"id":[{"id":"10.13039\/501100019978","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Science Progress"],"published-print":{"date-parts":[[2026,10]]},"abstract":"<jats:sec>\n                    <jats:title>Objective<\/jats:title>\n                    <jats:p>This study tested whether therapeutic massage techniques demonstrated by a single experienced practitioner can be encoded as structured kinematic-dynamic signatures and reproduced robotically under adaptive admittance control.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>Single-expert manual demonstrations of four mechanically distinct techniques - beating, pressing, pushing, and vibrating - were synchronously recorded using optical motion capture and tri-axial force sensing. Each technique was acquired as a 30-s continuous trial; after predefined screening, one stable analysis segment was retained per technique (Beat 8 s, Press 20 s, Push 20 s, and Vibrate 5 s). The retained demonstrations were characterized by active Cartesian degrees of freedom, movement excursion and timing, loading direction, force amplitude, and dominant frequency. These descriptors were mapped to technique-specific nominal robot trajectories, while adaptive admittance generated contact-direction corrections during execution. Reproduction fidelity was summarized descriptively by DTW-aligned waveform correlation, mean-force bias, relative mean-force bias, peak-force error, and dominant-frequency difference.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>After DTW alignment, robotic executions preserved force waveform morphology with high descriptive similarity across techniques (Pearson r = 0.858-0.925; Spearman rho = 0.817-0.907). Descriptive error metrics identified two technique-dependent mismatch patterns. Press and Push retained the principal cyclic or loading morphology but showed marked mean-force bias (+8.25 N, +33.55% for Press; -23.38 N, -43.66% for Push). Beat and Vibrate showed smaller absolute mean-force offsets (+1.79 N and -1.54 N, respectively), although Beat still exhibited a relative mean-force bias of +21.39%. Beat and Vibrate also showed larger dominant-frequency differences (-1.25 and -1.80 Hz, respectively). Peak-force error remained within \u00b12.11% for all four techniques.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusion<\/jats:title>\n                    <jats:p>Under controlled biomimetic-interface conditions, single-expert massage demonstrations could be encoded as interpretable kinematic-dynamic signatures and reproduced robotically with high temporal waveform similarity, although force-amplitude and rhythm reproduction remained technique dependent. These findings support the feasibility of the expert-to-robot representation and execution framework. Broader reproducibility and clinical relevance require validation with multiple practitioners, repeated trials, dedicated controller-performance experiments, and human participants.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1177\/00368504261490723","type":"journal-article","created":{"date-parts":[[2026,10,10]],"date-time":"2026-10-10T12:50:43Z","timestamp":1791636643000},"update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Robotic Reproduction of Therapeutic Massage via Adaptive Admittance Control and Single-Expert Kinematic-Dynamic Modeling"],"prefix":"10.1177","volume":"109","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-3895-431X","authenticated-orcid":false,"given":"Kui","family":"Huang","sequence":"first","affiliation":[{"name":"Guangming Traditional Chinese Medicine Hospital Pudong New Area"},{"name":"School of Gongli Hospital Medical Technology, University of Shanghai for Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuan","family":"Xu","sequence":"additional","affiliation":[{"name":"Shanghai Jiao Tong University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"WeiChao","family":"Guo","sequence":"additional","affiliation":[{"name":"Shanghai Jiao Tong University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"LeYi","family":"Du","sequence":"additional","affiliation":[{"name":"Guangming Traditional Chinese Medicine Hospital Pudong New Area"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2026,10,10]]},"reference":[{"key":"e_1_3_4_2_2","unstructured":"World Health Organization. Musculoskeletal conditions. Available at: https:\/\/www.who.int\/news-room\/fact-sheets\/detail\/musculoskeletal-conditions (2022) accessed 27 June 2026."},{"key":"e_1_3_4_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0140-6736(20)30925-9"},{"key":"e_1_3_4_4_2","doi-asserted-by":"publisher","DOI":"10.1089\/jicm.2024.1013"},{"key":"e_1_3_4_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00337-025-01143-8"},{"key":"e_1_3_4_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jphys.2015.05.018"},{"key":"e_1_3_4_7_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-2257-4"},{"key":"e_1_3_4_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2022.3202694"},{"key":"e_1_3_4_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2025.3549430"},{"key":"e_1_3_4_10_2","first-page":"7678516","article-title":"A massage area positioning algorithm for intelligent massage system","volume":"2022","author":"Zhou L","year":"2022","unstructured":"Zhou L, Feng Z, Cai Z, et al. A massage area positioning algorithm for intelligent massage system. Comput Intell Neurosci 2022; 2022: 7678516. https:\/\/doi.org\/10.1155\/2022\/7678516","journal-title":"Comput Intell Neurosci"},{"key":"e_1_3_4_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/CYBER.2016.7574803"},{"key":"e_1_3_4_12_2","first-page":"265","volume-title":"Proceedings of the 2024 6th International Conference on Robotics, Intelligent Control and Artificial Intelligence","author":"Yang H","year":"2024","unstructured":"Yang H, Zhang W, Si H, et al. Development of a massage robot based on vision-tactile fusion and adaptive force control. In: Proceedings of the 2024 6th International Conference on Robotics, Intelligent Control and Artificial Intelligence. 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