Paper Info
Title
Identification And Hybrid Impedance Control Of Human Skin Muscle By Multi-Fingered Robot Hand
Abstract
This paper proposes an intelligent massage control system by using multi-fingered robot hand with hybrid impedance control, which is able to create the movement and the force of robot such as the human's massage. Therefore, the various massage points, such as the change of the stiffness of human skin muscle, can be controlled by using impedance control method. The hybrid impedance control is comprised of the two methods of the position-based and the force-based impedance control were applied. The position-based impedance control is used to control the lateral position of massage on the human skin muscle. On the other hand, the force-based impedance control is used to control the force of the vertical direction on human skin muscle. This paper also gives the identification of human skin muscle through robot perception of impedance to decide the parameter of impedance controller. The control strategy using impedance control to implement an adaptive control system is presented, when human condition is changed with soft and hard skin muscle.Effectiveness of massage control system by using multifingered robot hand with hybrid impedance control is demonstrator through actual massage experiments of pushing and rubbing motion.
Year
DOI
Venue
2007
10.1109/IROS.2007.4399308
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9
Keywords
Field
DocType
control system,motion control,adaptive control,skin,muscle
Motion control,Control theory,Massage,Control theory,Simulation,Computer science,Electrical impedance,Control engineering,Impedance control,Adaptive control,Control system,Robot
Conference
Citations 
PageRank 
References 
8
0.68
4
Authors
5
Name
Order
Citations
PageRank
Keisuke Mouri181.02
Kazuhiko Terashima210033.03
Panya Minyong3254.48
Hideo Kitagawa4339.09
Takanori Miyoshi55220.65