Specific Muscle Tracking and Pressing Control Using Force Sensor in Massage Robot

Abstract

This paper proposes the method of muscle tracking control using a force sensor. A lot of people have stiff shoulder or lower back pain. A massage robot is studied to eliminate this problem. A force sensor based on a finger pad of massage robot gets moment, shearing, and reaction force data. the tracking control using force control is proposed to estimate the state of the target muscle based on these data. A force sensor gets the reaction force data and performs object tracking and pressure tracking in one axis direction. Using this method will be able to massage the target muscle correctly.