Anthropomorphic robotic arm with integrated elastic joints for TCM remedial massage

作者：Huang Yuancan^*; Li Jian; Huang Qiang; Soueres Philippe

来源：Robotica, 2015, 33(2): 348-365.

DOI：10.1017/S0263574714000228

• Service robots
• Design
• Force control
• Robot dynamics
• Modular robots

For reproducing the manipulation of Traditional Chinese Medicine (TCM) remedial massage and meanwhile guaranteeing safety, a 4-degree-of-freedom anthropomorphic robotic arm with integrated elastic joints is developed, and a passivity-based impedance control is used. Due to the series elasticity, integrated joints may minimize large forces that occur during accidental impacts, and, further, may offer more accurate and stable force control and a capacity for energy storage. Human expert's fingertip force curve in the process of massage therapy is acquired in vivo by a dedicated measurement device. Then three massage techniques, pressing, kneading, and plucking, are implemented by the soft arm, respectively, on torso model in vitro and on human body in vivo. Experimental results show that the developed robotic arm can effectively replicate the TCM remedial massage techniques.

• 出版日期2015-2
• 单位北京理工大学