Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints
Huixu Dong,Yue Feng,Chen Qiu,Ye Pan,Miao He,I-Ming Chen,Huixu Dong,Yue Feng,Chen Qiu,Ye Pan,Miao He,I-Ming Chen
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 s...
