Development of a mechanotherapy unit for examining the possibility of an intelligent massage robot
- 24 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 346-353
- https://doi.org/10.1109/iros.1996.570698
Abstract
A new approach for developing an intelligent massage robot is presented. Massage is popular as a form of body conditioning and was been mechanized in our country. However, conventional machines have some drawbacks to be improved on providing a certain comfort close to human therapies. We focus on ways to realize kneading massage actions which are considered to be the most difficult for machines. The action is first shown in a physical manner and the control is discussed based on a position/force hybrid controller. Then, some related problems are made apparent which have led to a new concept using a learning or adaptive mechanism. Finally, experiments using a test bed called the MTU (mechanotherapy unit) have proven that there is a good possibility of developing an innovative massage robot.Keywords
This publication has 4 references indexed in Scilit:
- A symmetric hybrid position/force control scheme for the coordination of two robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Coordinated dynamic hybrid position/force control for multiple robot manipulators handling one constrained objectPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Sensing and control for sheep shearing robotsIEEE Transactions on Robotics and Automation, 1989
- A unified approach for motion and force control of robot manipulators: The operational space formulationIEEE Journal on Robotics and Automation, 1987