Enabling massage actions: An interactive parallel robot with compliant joints
Published in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the corresponding control variables. Then, a novel force-position control strategy is proposed to separately control the force-position along the normal direction of the surface and another two-direction displacement, without the requirement of a robotic dynamics model. To evaluate its performance, we implement a series of robotic massage experiments. The results demonstrate that the proposed massage manipulator can successfully achieve desired forces and motion patterns of massage tasks, arriving at a high-score user experience.
Recommended citation: Dong, H., Feng, Y., Qiu, C., Pan, Y., He, M., & Chen, I. M. (2022, October). Enabling massage actions: An interactive parallel robot with compliant joints. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4632-4637). IEEE.
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