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

摘要

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 force of robot such as the human's massage. The hybrid impedance control 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. Effectiveness of massage control system by using multi-fingered robot hand with hybrid impedance control is demonstrated through actual massage experiments of pushing and rubbing motion.