MASSAGE CONTROL TO ADAPT HUMAN SKIN MUSCLE CONDITION BY USING MULTIFINGERED ROBOT HAND

Kazuhiko Terashima, Taku Kondo, Panya Minyong, Takanori Miyoshi, Hideo Kitagawa

Abstract

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.

References

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Paper Citation


in Harvard Style

Terashima K., Kondo T., Minyong P., Miyoshi T. and Kitagawa H. (2005). MASSAGE CONTROL TO ADAPT HUMAN SKIN MUSCLE CONDITION BY USING MULTIFINGERED ROBOT HAND . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 407-410. DOI: 10.5220/0001172304070410


in Bibtex Style

@conference{icinco05,
author={Kazuhiko Terashima and Taku Kondo and Panya Minyong and Takanori Miyoshi and Hideo Kitagawa},
title={MASSAGE CONTROL TO ADAPT HUMAN SKIN MUSCLE CONDITION BY USING MULTIFINGERED ROBOT HAND},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={407-410},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001172304070410},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - MASSAGE CONTROL TO ADAPT HUMAN SKIN MUSCLE CONDITION BY USING MULTIFINGERED ROBOT HAND
SN - 972-8865-30-9
AU - Terashima K.
AU - Kondo T.
AU - Minyong P.
AU - Miyoshi T.
AU - Kitagawa H.
PY - 2005
SP - 407
EP - 410
DO - 10.5220/0001172304070410