Top > JRM > Hybrid Impedance Control of Massage Considering Dynamic Intera ...

single-rb.php

JRM Vol.21 No.1 pp. 146-155
doi: 10.20965/jrm.2009.p0146
(2009)

Paper:

Views over last 60 days: 517

Hybrid Impedance Control of Massage Considering Dynamic Interaction of Human and Robot Collaboration Systems

Kazuhiko Terashima*, Takanori Miyoshi*, Keisuke Mouri*,
Hideo Kitagawa**, and Panya Minyong***

*Department of Production Systems Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441-8580, Japan

**Department of Electronic Control Engineering, Gifu National College of Technology, 2236-2 Kamimakuwa, Motosu-city, Gifu 501-0495, Japan

***Department of Mechatronics Engineering, Pathumwan Institute of Technology, 833 Rama 1 Rd., Pathumwan, Bangkok 10330, Thailand

Received:
January 30, 2008
Accepted:
November 28, 2008
Published:
February 20, 2009
Creative Commons License
Keywords:
multi-fingered robot hand, impedance control, massage, human skin muscle model
Abstract
This paper proposes an intelligent massage control system that uses a multi-fingered robot hand with hybrid impedance control, which is able to recreate the movement and force of a human massage therapist. Therefore, various massage points, such as changes in the stiffness of human skin muscle, can be controlled by using an impedance control method. A hybrid impedance control, comprised of position-based and force-based control methods, was developed. The position-based impedance control is used to control the lateral position of massage on the human skin muscle. On the other hand, the force-based impedance control is used to control the force of the vertical direction on human skin muscle. This paper also identifies human skin muscle through robot perception of impedance to decide on the parameters of the impedance controller. A strategy using impedance control to implement an adaptive control system is presented, under the conditions of both soft and hard skin and muscle. The effectiveness of this massage control system using a multi-fingered robot hand with hybrid impedance control is demonstrated through realistic massage experiments involving pushing and rubbing motions.
Cite this article as:
K. Terashima, T. Miyoshi, K. Mouri, H. Kitagawa, and P. Minyong, “Hybrid Impedance Control of Massage Considering Dynamic Interaction of Human and Robot Collaboration Systems,” J. Robot. Mechatron., Vol.21 No.1, pp. 146-155, 2009.
Data files:
References
  1. [1] K. Nagai and Yoshikawa, “Dynamic Manipulation / Grasping Control of Multifingered Robot Hand,” Trans. of Measurement and Control Engineering, Vol.30, No.1, pp. 39-47, 1994 (in Japanese).
  2. [2] E. Paljug, X. Yun, and V. Kumar, “Control of Rolling Contacts in Multi-arm Manipulation,” IEEE Trans. On Robotics and Automation, Vol.10, No.4, pp. 441-452, 1994.
  3. [3] W. S. Howard and V. Kumar, “On the Stability of Grasped Objects,” IEEE Trans. on Robotics and Automation, Vol.121, No.6, pp. 904-917, 1999.
  4. [4] H. Kitagawa, T. Terai, M. Panya, and K. Terashima, “Application of Neural Network for the Teaching of Massage to a Multi-fingered Robot Hand,” Journal of Robotics and Mechatronics, Vol.14, No.2, pp. 534-541, 2002.
  5. [5] P. Minyong, T. Miyoshi, H. Kitagawa, and K. Terashima, “Expert Massage Motion Control by Multi-fingered Robot Hand,” Int. Conf. on Intelligent Robotics and Systems (IROS2003), LasVegas, USA, Oct. 2003, pp. 3035-3040.
  6. [6] K. Terashima, H. Kitagawa, T. Miyoshi, P. Minyong, and T. Kondo, “Modeling and massage control of human skin muscle by using multi-fingered robot hand,” Integrated Computer-Aided Engineering, Vol.13, No.3, pp. 233-248, 2006.
  7. [7] For example:
    http://www.mew.co.jp/wellness/momimomi/realpro2/index.html
  8. [8] D. L. Braven and R. A. Schulman, “Massage Techniques in Rehabilitation Medicine,” Complementary Therapies in Physical Medicine and Rehabilitation, Vol.10, No.3, pp. 631-649, 1999.
  9. [9] A. Carreck, “The Effects of Massage on Pain Perception Threshold,” Manipulation Therapy, Vol.26, pp. 10-16, 1994.
  10. [10] H. L. Kanements, “History of Massage,” in J. V. Basmajian (Ed.), “Manipulation, Traction and Massage,” Williams & Wilkins, Baltimore, pp. 211-255, 1985.
  11. [11] T. Kimura, “Outline to Massage,” Physical Therapy, Vol.19, No.3, pp. 381-387, 2003 (in Japanese).
  12. [12] N. Kotani, T. Matsuoka, T. Hirayama, and H. Kondo, “Effect of Material Properties of Massage Chair Arm on Massage Comfort,” Proc. of the Welfare Engineering Symposium 2005, pp. 191-194, 2005.
  13. [13] K. Malkin, “Use of Massage in Clinical Practice,” Br. Journal of Nursery, Vol.3, No.6, pp. 292-294, 1994.
  14. [14] R. Melzack and P. A. Wall, “Pain Mechanism, A new Theory,” Science, Vol.150, pp. 945-949, 1965.
  15. [15] G. Westland, “Massage as a Therapeutic Tool,” Br. J. Occup. Ther., pp. 129-134, 1993.
  16. [16] R. Kiruuwe and T. Yoshikawa, “Robot Perception of Impedance,” Journal of Japan Robotics Engineering, Vol.21, No.1, pp. 103-108, 2003.
  17. [17] K. Mouri, K. Terashima, P. Minyong, H. Kitagawa, and T. Miyoshi, “Identification and Hybrid Impedance Control of Human Skin Muscle by Multi-fingered Robot Hand,” Int. Conf. on Intelligent Robotics and Systems (IROS2007), SanDiego, USA, pp. 2895-2900, 2007.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Copyright© 2009 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on May. 24, 2023