Title :
Design of a Percussive Massage Robot Tapping Human Backs
Author :
Kang, Chul-Goo ; Lee, Bong-ju ; Son, Ik-xu ; Kim, Ho-Yeon
Author_Institution :
Konkuk Univ., Seoul
Abstract :
A percussive massage robot for senior health care is under development at our Intelligent Control and Robotics Laboratory. This paper presents a conceptual design of the massage robot, forward and inverse kinematic analysis, and Jacobian derivation of the robot manipulator that has 4 degree of freedom motion. Furthermore, the shape and magnitude of impact force for percussive massage tapping human backs are obtained through experimental study using a load cell, which give the basics of dynamic analysis and force control of the robot manipulator.
Keywords :
Jacobian matrices; force control; geriatrics; health care; manipulator dynamics; manipulator kinematics; medical robotics; Jacobian derivation; dynamic analysis; elderly people; force control; forward-inverse kinematic analysis; health care; load cell; manipulator; percussive massage robot; Humans; Intelligent control; Intelligent robots; Jacobian matrices; Kinematics; Laboratories; Manipulator dynamics; Medical services; Motion analysis; Shape control;
Conference_Titel :
Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on
Conference_Location :
Jeju
Print_ISBN :
978-1-4244-1634-9
Electronic_ISBN :
978-1-4244-1635-6
DOI :
10.1109/ROMAN.2007.4415222
