Application of Neural Network to Teaching of Massage using Multi-fingered Robot Hand
Hideo Kitagawa*, Tomomi Terai**, Panya Minyong** and Kazuhiko. Terashima**
*Gifu National College of Technology, Shinsei-cho Motosu-gun Gifu Prefecture, Japan, 501-0495
**Toyohashi University of Technology, Hibarigaoka 1-1 Tempaku-cho, Toyohashi, Japan, 441-8580
A massage expert using a humanoid robot hand is constructed, and motion control using neural networks (NNs), teaching of fingertip pressure in massage of the robot hand, and its reproduction of force are reported. Force exerted when an expert massages shoulders was detected using distribution pressure sensors, taught to the robot hand, and reproduced by it. It massaged with pressure safe for human beings and similar to an expert.
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Copyright© 2002 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.