The purpose of this paper is to propose the adaptive expert masssage robot using a multi-fingered robot. Towards this goal, the present paper gives a modeling of human skin muscle through robot perception of impedance, and control strategy using impedance control to implement adaptive control system, even if human condition is changed. The model validity is demonstrated via many experiments by ...

This work is focused on impedance control of robot manipulators performing six-degree-of-freedom interaction tasks. An energy-based formulation leads to formally deriving the dynamic equation characterizing a mechanical impedance at the end effector. An inverse dynamics strategy with contact force and moment measurement is adopted to obtain a configurationindependent desired impedance. For give...

Received: June 18, 2015. Received in revised form: October 17, 2015. Accepted: October 26, 2015. In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients...

This paper describes an adaptive and autocalibrated method to track surfaces. To do so, a non time dependent impedance control system is proposed. This method fuses visual and force information to track a given trajectory maintaining the contact with the surface. The main contribution of the visual servoing approach employed by the impedance control system is the possibility of carrying out the...

Impedance control provides a convenient framework for designing control algorithms for robotic applications that involve interaction with the environment. Passive impedance control was utilized in the early days of robotic applications, when the peg-in-hole type of tasks were performed using remote center compliance. Active impedance control using digital measurements of contact forces for debu...

This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which...

The purpose of this paper is to propose adaptive and flexible expert masssage robot using multi-fingered robot. Towards this goal, the present paper gives a modeling of human skin muscle through robot perception of impedance, and control strategy using impedance control to implement adaptive control system, even if human condition is changed, or massage position is shifted, and person to be mas...

A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...

Mechanical impedance is the dynamic generalization of stiffness, and determines interactive behavior by definition. Although the argument for explicitly controlling impedance is strong, impedance control has had only a modest impact on robotic manipulator control practice. This is due in part to the fact that it is difficult to select suitable impedances given tasks. A spatial impedance control...