Massage control to adapt human skin muscle condition by using multifingered robot hand
نویسندگان
چکیده
The purpose of this paper is to propose the adaptive expert masssage robot using a 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. The model validity is demonstrated via many experiments by using multi-fingered robot hand and human body. Based on robot perception of human muscle impedance, impedance control is proposed.
منابع مشابه
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 mas...
متن کاملSense Feedback Control of Human Muscle by Multi-fingered Robot Hand
This paper presents a massage motion control system comprised of position control and force control in a multi-fingered robot hand. First, the fingertip forces exerted by an expert human therapist was measured using sheet distribution pressure sensors, and the datas obtained was recorded in a computer. After the measurements were taken, the human expert’s fingertip force was reproduced by the r...
متن کاملOn the Development of EMG Control for a Prosthetic Hand
The human hand is a complex end-effector capable of an astonishingly large variety of postures. The ease with which the human hand seems to adapt to changing requirements is one of the challenges to the designer of a plausible substitute. At the Robotics Research Laboratory at USC there is an ongoing research project to covert an existing anthropomorphic, shape-adaptive robot hand into a viable...
متن کاملTeleoperated Anthropomorphic Hand
As we push the limit on exploration of uninhabitable environments, human explorers have been increasingly replaced by robots. We have attempted to give these robot explorers a human advantage. To accomplish this task a multifingered ten degree of freedom robot hand has been constructed. The robot’s actions are dynamically controlled by actuator cables attached to radial servomechanisms. Its fun...
متن کاملMechanism design of a new multifingered robot hand
A new five-finger robot hand (NTU hand) with seventeen degrees of freedom (DOF) is developed in this paper, In contrast to traditional tendon-driven robot, the NTU hand has an uncoupled configuration that each fmger and joint are all individually driven. While all actuators, mechanical parts and sensors are packed on the hand, the size of NTU hand is almost the same as a human hand. Such compac...
متن کامل