Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints
Huixu Dong, Yue Feng, Chen Qiu, Ye Pan, Miao He, I-Ming Chen
Abstract
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.
BibTeX
@inproceedings{iros2022_enablingmassagea,
title = {Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints},
author = {Huixu Dong and Yue Feng and Chen Qiu and Ye Pan and Miao He and I-Ming Chen},
booktitle = {IROS 2022},
year = {2022}
}