Sense Feedback Control of Human Muscle By Multi-fingered Robot Hand
| Authors: | Kondo Taku, Toyohashi University of Technology, Japan
Terashima Kazuhiko, Toyohashi University of Technology, Japan
Minyong Panya, Pathumwan Institute of Technology, Thailand
Miyoshi Takanori, Toyohashi University of Technology, Japan
Kitagawa Hideo, Gifu National College of Technology, Japan |
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| Topic: | 4.5 Human Machine Systems |
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| Session: | Applications for Human-Machine Systems |
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| Keywords: | Position control, Force control, Human factors, Medical applications, PID control, Robot control |
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Abstract
This paper presents a massage motion control system comprised of position control and force control in a multi-fingered robot hand. First, the fingertip forces exerted by an expert human therapist was measured using sheet distribution pressure sensors, and the datas obtained was recorded in a computer. After the measurements were taken, the human expert's fingertip force was reproduced by the robot. Through simulation and experiments, the usefulness of the proposed control systems was demonstrated. Finally, in order to advance the present system, identification of human skin muscle was studied and the future concept of sense feedback control system was proposed.
