Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage
Mahdi Khoramshahi,Gustav Henriks,Aileen Naef,Seyed Sina Mirrazavi Salehian,Joonyoung Kim,Aude Billard,Mahdi Khoramshahi,Gustav Henriks,Aileen Naef,Seyed Sina Mirrazavi Salehian,Joonyoung Kim,Aude Billard
Many manipulation tasks require coordinated motions for arm and fingers. Complexity increases when the task requires to control for the force at contact against a non-flat surface; This becomes even more challenging when this contact is done on a human. All these challenges are regrouped when one, for instance, massages a human limb. When massaging, the robotic arm is required to continuously adap...
