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MiBOT: A head-worn robot that modulates cardiovascular responses through human-like soft massage

arXiv · AI, language, vision and robotics · article · Aug 30, 2026 · UTC

Massage therapy is helpful for the rehabilitation of various diseases, such as headaches caused by migraines and stress. Existing robotic systems have focused on massage therapy on the torso and limbs, but performing massage motions through suitable actuation on a person's head has been a challenge. In this paper, we present MiBOT, a head-worn massage robot that actuates two soft tactors to produce touch motions mimicking human massage. A key design principle behind MiBOT is its silent actuation, which we achieve through pneumatic artificial muscles in conjunction with a controller loop to res

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