Quantitative Assessment Of Expert'S Lifting-Thrusting Manipulation In Acupuncture Based On Haptic Device

Acupuncture is a complementary treatment method, while its therapeutic effect is tightly related to physician's manipulation skill. Lifting and thrusting manipulation is an important acupuncture procedure which could enhance the outcome, e.g. the arrival of Qi. Traditional methods cannot quantitatively measure acupuncture manipulations which make difficult in teaching and studying. In this paper, we proposed a high precision and quantitative monitoring system based on commercial haptic device. Our system can obtain quantitative position, velocity and force information and visualize the lifting and thrusting manipulation in real time. As a simple but accurate recording solution, it would be useful in accumulation and investigation of experts' experiences.