Modeling of Human Skin Muscle and Massage Control by Using Multi-fingered Robot Hand

The purpose of this paper is to propose adaptive and flexible expert masssage robot using multi-fingered robot. Towards this goal, the present paper gives a modeling of human skin muscle through robot perception of impedance, and control strategy using impedance control to implement adaptive control system, even if human condition is changed, or massage position is shifted, and person to be massaged is different. The model validity is demonstrated via many experimants by using multi-fingered robot hand and human body. Based on robot perception of human muscle impedance, control strategy for developing an adaptive massage robot and impedance control are proposed by givining the concept of controller switching and sense feedback.