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

本研究以多指机械手为研究对象，利用感官反馈来实现对按摩动作的超技能控制。首先，本研究建立了手臂和手机器人系统。提出了一种针对人体皮肤模型的建模与辨识方法。提出了质量-弹簧-阻尼器模型，并用系统辨识方法进行了参数辨识。通过实验和仿真的对比，验证了模型的有效性。其次，根据人体皮肤模型的阻抗提出了自适应阻抗控制，提出了宏微观控制，其中精细控制由手完成，大力控制由ARM完成。最后，通过监测阻抗和肌电信号，构建了感觉反馈系统。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.