Double-arm massage robot

A double-arm massage robot comprises a left massage arm and a right massage arm, the front end of each massage arm is provided with a corresponding massage hand, and a flexible touch sensor of each massage hand comprises a double-layer flexible layer structure composed of a bionic epidermal layer and a corium layer, a camera and a light source; wherein the camera is used for capturing the deformation of the double-layer flexible layer structure; the double-layer flexible layer structure is based on a material with light transmission and flexibility, and the surface layer comprises a reflecting layer so as to assist the camera in capturing light rays irradiated by the light source to the double-layer flexible layer structure and reflected back to the camera, so that the deformation of the double-layer flexible layer structure is sensed. Therefore, the flexible touch sensor and the robot motion device are innovatively combined, so that a more anthropomorphic massage physical therapy function is realized. 一种双臂版按