MASSAGE CONTROL TO ADAPT HUMAN SKIN MUSCLE CONDITION BY USING MULTIFINGERED ROBOT HAND

Kazuhiko Terashima; Taku Kondo; Panya Minyong; Takanori Miyoshi; Hideo Kitagawa

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Paper

MASSAGE CONTROL TO ADAPT HUMAN SKIN MUSCLE CONDITION BY USING MULTIFINGERED ROBOT HAND

Topics: Robot Design, Development and Control

In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, 407-410, 2005 , Barcelona, Spain

Authors: Kazuhiko Terashima ¹ ; Taku Kondo ¹ ; Panya Minyong ¹ ; Takanori Miyoshi ¹ and Hideo Kitagawa ²

Affiliations: ¹ Toyohashi University of Technology, Japan ; ² Gifu National College of Technology, Japan

Keyword(s): Human skin muscle model, multi-fingered robot hand, massage control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: 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 using multi-fingered robot hand and human body. Based on robot perception of human muscle impedance, impedance control is proposed.

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Paper citation in several formats:

Terashima, K.; Kondo, T.; Minyong, P.; Miyoshi, T. and Kitagawa, H. (2005). MASSAGE CONTROL TO ADAPT HUMAN SKIN MUSCLE CONDITION BY USING MULTIFINGERED ROBOT HAND. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 407-410. DOI: 10.5220/0001172304070410

@conference{icinco05,
author={Kazuhiko Terashima. and Taku Kondo. and Panya Minyong. and Takanori Miyoshi. and Hideo Kitagawa.},
title={MASSAGE CONTROL TO ADAPT HUMAN SKIN MUSCLE CONDITION BY USING MULTIFINGERED ROBOT HAND},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2005},
pages={407-410},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001172304070410},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - MASSAGE CONTROL TO ADAPT HUMAN SKIN MUSCLE CONDITION BY USING MULTIFINGERED ROBOT HAND
SN - 972-8865-30-9
IS - 2184-2809
AU - Terashima, K.
AU - Kondo, T.
AU - Minyong, P.
AU - Miyoshi, T.
AU - Kitagawa, H.
PY - 2005
SP - 407
EP - 410
DO - 10.5220/0001172304070410
PB - SciTePress