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SENSE FEEDBACK CONTROL OF HUMAN MUSCLE BY MULTI-FINGERED ROBOT HAND

Abstract This paper presents a massage motion control system comprised of position control and force control in a multi-fingered robot hand. First, the fingertip forces exerted by an expert human therapist was measured using sheet distribution pressure sensors, and the datas obtained was recorded in a computer. After the measurements were taken, the human expert's fingertip force was reproduced by the robot. Through simulation and experiments, the usefulness of the proposed control systems was demonstrated. Finally, in order to advance the present system, identification of human skin muscle was studied and the future concept of sense feedback control system was proposed.