TY - GEN
T1 - Integrated rotary compliant joint and its impedance-based controller for single-joint pressing massage robot
AU - Huang, Yuancan
AU - Ran, Chongjian
AU - Li, Jian
AU - Li, Guodong
PY - 2012
Y1 - 2012
N2 - For the purpose of developing a lightweight massage robotic arm ensuring safe human-robot contact, reduction of large force caused by shocks, and accurate and stable force following, a compact, integrated rotary compliant joint is designed, and a simple single-joint pressing massage robot is constructed in order to verify the compliant joint's performance. Then, the impedance-based controller with joint torque control is presented, which is robust to unstructured environment during human-robot interaction, and is used to accomplish pressing massage by the single-joint robot. Experimental results show that the developed integrated rotary compliant joint is efficient to fulfill its function during robot pressing massage and is eligible for the construction of service robots in which safe human-robot interaction is necessary.
AB - For the purpose of developing a lightweight massage robotic arm ensuring safe human-robot contact, reduction of large force caused by shocks, and accurate and stable force following, a compact, integrated rotary compliant joint is designed, and a simple single-joint pressing massage robot is constructed in order to verify the compliant joint's performance. Then, the impedance-based controller with joint torque control is presented, which is robust to unstructured environment during human-robot interaction, and is used to accomplish pressing massage by the single-joint robot. Experimental results show that the developed integrated rotary compliant joint is efficient to fulfill its function during robot pressing massage and is eligible for the construction of service robots in which safe human-robot interaction is necessary.
UR - http://www.scopus.com/inward/record.url?scp=84876500049&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2012.6491255
DO - 10.1109/ROBIO.2012.6491255
M3 - Conference contribution
AN - SCOPUS:84876500049
SN - 9781467321273
T3 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
SP - 1962
EP - 1967
BT - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
T2 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Y2 - 11 December 2012 through 14 December 2012
ER -