Simulation and implement of traditional Chinese finger-kneading based on hybrid force position control

This paper studied a hybrid force position control strategy to reproduction the finger-kneading manipulation. After research on the motion trace and the force pattern, a finger-kneading manipulation model based on pain threshold was presented. On this basis, a hybrid force position control strategy was exploited to track position and force at the same time. The control strategy was simulated in MATLAB with Simulink and SimMechnics modules, and the results shows the force error is less than 0.7N and the position error is less than 0.1mm. The accuracy and effectiveness in practical application was proved by accuracy testing and clinical experiment.