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Force Feedback Algorithm for Robot Arm to Bandage A Swaying Arm

In order to make the elderly more secure in the process of robot bandaging and ensure the professionalism of the bandaging task, a force control method using a six-degree-of-freedom (6-DoF) anthropomorphic robot arm following the swinging injured arm is proposed. The force control of bandaging tasks is challenging because it is necessary to ensure that the bandaging task is completed safely while maintaining the tension of the bandage. To solve such problems, the proposed force feedback algorithm is used to manipulate bandages. In order to verify the algorithm, some simulation experiments are designed to make the robot arm follow the injured arm and maintain a certain tension. Finally, the proposed algorithm was successfully tested using a prototype robot to follow a swaying arm through a band.