针对机器人按摩头柔顺接触能力和多变量环境因素自适应能力不足的问题，本项目提出基于磁流变液的刚度连续可控机器人按摩头柔性结构设计方法，并研究其柔顺接触控制策略。通过分析磁流变液稳定性影响因素和调控机理，建立柔性结构表面刚度连续可控模型和柔性表面接触模型，完成基于磁流变液的多手法机器人按摩头单/双柔性结构设计；基于多变量环境因素分析模型将控制任务分解为两级子任务，构建柔顺接触模糊阻抗力控制模型和多变量环境因素的自适应控制模型；通过实验研究，验证本项目提出的柔性结构设计方法和控制策略的正确性，并提供优化数据。本项目的特色在于首次提出基于磁流变液的机器人按摩头柔性结构设计方法，具有简化结构和降低控制难度的优点；揭示刚度连续可控柔性按摩表面的作用机理，提高按摩头结构的柔顺接触能力和复杂按摩环境的自适应能力。

The present achievements of massage robot could not satisfy the requirements in compliance contact control and complex environment adaptive control. The goals of this project are to propose a novel design of flexible structure of massage robot hand based on magnetorheological fluid (MRF) which is controllable and reversible in elasticity and viscosity, and to study the compliance contact control model and self-adaptive control model for complex massage environment. The influence factors of MRF stability will be analyzed to build successive adjustable rigid model and flexible surface contact model. With the adjustable rigid theory of flexible structure surface and relevant models, to design single/double flexible structure which could complete multiple massage operations. The task decomposition of complex massage control provides possibility for fuzzy impedance control of contact force and the design of self-adaptive controller. By manufacturing the prototype of flexible structure, the performance of load model, irregular surface adaption and complex environment adaption will be tested with optimization of magnetic circuit and flexible structure. One of the characteristics of this project is to propose a novel design of flexible structure which could provide multi-massage operation based on magnetorheological effect. Compared with humanoid hand, the proposed design makes the structure and control system simple. The other characteristic of this project is to improve the compliance contact ability and self-adaptive ability in complex environment of the proposed design with fuzzy impedance control strategy and complex environment self-adaptive control strategy.