论文标题
启用按摩动作：具有符合接头的交互式平行机器人
Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints
论文作者
论文摘要
我们提出了一个基于串联弹性执行器（SEA）的平行按摩机器人，提供统一的力位控制方法。首先，建立了运动和静态力模型以获得相应的控制变量。然后，提出了一种新型的力位控制策略，以在不需要机器人动力学模型的情况下分别控制沿表面正常方向的力位和另一个两方向位移。为了评估其性能，我们实施了一系列机器人按摩实验。结果表明，所提出的按摩操纵器可以成功实现按摩任务的所需力和运动模式，从而达到高得分用户体验。
We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the corresponding control variables. Then, a novel force-position control strategy is proposed to separately control the force-position along the normal direction of the surface and another two-direction displacement, without the requirement of a robotic dynamics model. To evaluate its performance, we implement a series of robotic massage experiments. The results demonstrate that the proposed massage manipulator can successfully achieve desired forces and motion patterns of massage tasks, arriving at a high-score user experience.
