Super-Skill Motion Control by Sense Feedback Using Multi-fingered Root Hand for Health-Support

本研究考虑了多指机械手的超技能按摩运动控制。首先，本研究构建了手臂和手机器人系统。提出了人体皮肤模型的建模与识别方法。提出了质量-弹簧-阻尼器模型，并采用系统辨识法辨识参数。通过实验与仿真对比，验证了模型的有效性。其次，根据人体皮肤模型的阻抗特性，提出了自适应阻抗控制方法，提出了宏微观控制方法，即用手进行精细控制，用手臂进行大力控制。最后，构建了基于阻抗和肌电信号监测的传感反馈系统。通过这些研究，为今后建立智能按摩控制系统提供了基础知识。

This research considers super-skill massage motion control by multi-fingered robot hand using sense feedback. First, arm and hand robot system is built in this research. Modeling and identification method is presented for human skin model. Mass-Spring-Damper model is proposed, and parameters are identified by system identification method. Model validity is proved by comparison between experiments and simulations. Second, adaptive impedance control is proposed according to the impedance of human skin model Macro-Micro control is presented, where fine control is conducted by hand, and large force control is done by arm. Finally, sense feedback system by monitoring impedance and EMG signal isconstructed. Through these research, basic knowledge of establishing intelligent massage control systems in future has been obtained.