As　a　crucial　traditional　Chinese　medicine　practice　in　nursing　rehabilitation,　the　professional　gua　sha　can　help　to　relieve　the　diseases　with　the　theory　of　meridians　and　acupoints.　Yet,　the　automation　of　gua　sha　faces　several　challenges　such　as　insufficient　sensor　information,　meridian　quantification,　and　professional　Chinese　medicine　knowledge.　In　this　article,　a　gua　sha　trajectory　planning　is　proposed　based　on　multisensor　integrated-gua　sha　robot　system.　The　gua　sha　robot　utilizes　a　smart　gua　sha　device　and　information　fusion　method　to　quantify　the　true　scraping　processes.　A　scraping　strategy　is　established　by　employing　force　information　to　correct　trajectory　and　displacement　restrictions　to　extract　relevant　trajectory.　Based　on　distance　likelihood,　the　gua　sha　robot　develops　a　series　of　restrictions　on　the　range,　trajectory,　quantity,　and　timing　of　scraping　processes　with　different　body　types,　and　it　is　precisely　controlled　to　replicate　the　gua　sha　force.　The　accuracy　of　the　scraping　trajectory　obtained　by　stabilized　numerical　integration　method　based　on　information　fusion　and　detrended　fluctuation　analysis　(SNIF-DFA)　and　the　effectiveness　of　the　proposed　strategy　were　verified　through　a　series　of　tests.　This　article　enhances　the　automatic　and　accurate　reproduction　of　gua　sha,　which　makes　contributions　to　solving　the　imbalance　of　medical　resource　distribution　and　liberating　professional　doctors.　The　system　can　also　serve　as　a　reference　for　the　development　of　intelligent　service　robots,　such　as　massage　robots,　which　must　meet　trajectory　and　force　requirements.　　©　2001-2012　IEEE.