An arm wrestling robot system designed to imitate the force-applying process of human player

In this paper, we present an arm wrestling robot (AWR) system. This system is designed with the purpose of imitating the real force-applying process of human player when people play in the game of hand wrestling. In order to achieve the expected function, special mechanical structure of robot arm is designed in according to human hand, two force sensors and a motor with special driver are adopted. Feedback of force information and optimized control strategy are applied in our control program to make sure that the motion of robot arm can be controlled exactly in accordance with actual human player, in this way. Different experiments are done on the basis of this system and the results shows that the robot can work well.