Abstract
Reflexology is a kind of assisting physical care through massaging or applying pressure to parts of the feet where will reflect an image of the human body in order to improve general health of the human. Based on this principle, we propose a new application of 7-DOF(degree of freedom) redundant manipulator to do the massaging work for human feet with the tactile sensor equipped to the end-effector. To facilitate the flexible and dexterous manipulation of redundant manipulator, the hybrid impedance control is adopted and extended to include the null space motion, not only to generate a desired motion of the end-effector, but also manage the contact force between the end-effector and the human feet. In order to improve the safety and comfortability, the reactive forces of the tactile sensor cells are monitored and recorded. A real massaging experiment is carried out on the human feet and the results demonstrate the effectiveness of the proposed control system.
Original language | English |
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Title of host publication | 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 |
Pages | 7-12 |
Number of pages | 6 |
DOIs | |
Publication status | Published - 1 Dec 2010 |
Externally published | Yes |
Event | 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 - Montreal, QC, Canada Duration: 6 Jul 2010 → 9 Jul 2010 |
Conference
Conference | 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 |
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Country/Territory | Canada |
City | Montreal, QC |
Period | 6/07/10 → 9/07/10 |
Keywords
- Foot massage
- Impedance control
- Redundant manipulator
- Reflexology
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Science Applications
- Electrical and Electronic Engineering