Abstract: A small-scale robotic arm joint and a robot thereof are provided. In the small-scale robotic arm, multiple bearings are arranged at both ends and middle of a motor shaft; a sliding seal member is provided between a harmonic reducer and a motor; seal members are fitted on contact surfaces between a circular spline and a housing, as well as between the circular spline and the output end; a control board and the output end are hollow structures, through which cables pass; a magnetic coder is adopted to reduce a volume of the joint; additionally, a magnetic shielding plate is provided on the housing that separates the motor and the control board. Robotic arms of a robot are connected using said small-scale robotic arm joints, which are compact, smooth-operating, and safe, improve stability of a rotational axis, and prevent lubricating grease from entering the motor interior or the control board.

Abstract: A method for generating massage tracks includes acquiring two-dimensional data of preliminary massage point positions according to a user-selected massage mode; acquiring point cloud data of a region to be massaged of a target object; acquiring the massage point position two-dimensional data of the target by proportion calculation according to the preliminary massage point position two-dimensional data and the point cloud data of the region to be massaged of the target object; acquiring three-dimensional massage point position data of the target according to the two-dimensional data of the massage point position of the target and the point cloud data of the region to be massaged of the target object; and generating a final massage track based on a preset massage track planning algorithm according to the three-dimensional massage point position data of the target. The present application may select a massage mode to improve individual adaptability.