ロボットマッサージにおける力覚情報を用いた対象筋の加圧力追従制御

抄録

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.