NDLI: Expert massage motion control by multi-fingered robot hand

Content Provider	IEEE Xplore Digital Library
Author	Panya Minyong Miyoshi, T. Terashima, K. Kitagawa, H.
Copyright Year	2003
Description	Author affiliation: Toyohashi Univ. of Technol., Japan (Panya Minyong; Miyoshi, T.; Terashima, K.)
Abstract	This paper presents a massage motion control system comprised of position control and force control in a multi-fingered robot hand. By making use of an algorithm which converted the desired fingertip trajectory into the desired angle of links in each finger by means of inverse kinematics, the finger position control from the initial position of the multi-fingered robot hand to a target position of the objects for massage was achieved. Its controller was used until the robot hand contacted the objects for massage. After contact was made, the fingertip position control was switched to a force control position needed to apply pressure for the massage. The fingertip forces exerted by an expert human therapist was measured using sheet distribution pressure sensors, and the data obtained was recorded in a computer. After the measurements were taken, the human expert's fingertip force was reproduced by the robot hand. The fingertip force of the robot hand was controlled using feedback obtained with a 6-axis force sensor. To make the force of each fingertip of the four-fingered robot hand track to the fingertip force exerted by the expert human massage therapist, PI servo compensation and a Jacobian matrix were really applied for the human's shoulder. Through simulation and experiments, the usefulness of the proposed control systems was demonstrated.
Sponsorship	IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. New Technol. Found
Starting Page	3035
Ending Page	3040
File Size	424859
Page Count	6
File Format	PDF
ISBN	0780378601
DOI	10.1109/IROS.2003.1249333
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Force sensors Robot sensing systems Humans Position control Force control Force measurement Fingers Force feedback Trajectory
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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