DocumentCode
1957515
Title
Development of a massage robot for medical therapy
Author
Jones, K.C. ; Du, Winncy
Author_Institution
Dept. of Mech. & Aerosp. Eng., San Jose State Univ., CA, USA
Volume
2
fYear
2003
fDate
20-24 July 2003
Firstpage
1096
Abstract
This paper addresses the development of a robotic system that can provide basic massage manipulations for medical therapy. A PUMA 562 robot is employed to perform the massage task through a properly controlled end-effector following the desired trajectories. The present work includes studying the massage mechanism and the features of the PUMA 562, generating the proper trajectories, and designing the control laws so that the robot can provide the ideal massage movement with proper force. The proposed algorithms are verified through data collected using a compliant surface representing human tissue.
Keywords
end effectors; force control; medical robotics; patient treatment; position control; PUMA 562 robot; control law design; data collection; end effector; human tissue; massage manipulations; massage robot development; medical therapy; trajectory generation; Biological tissues; Fatigue; Force control; Humans; Medical control systems; Medical robotics; Medical services; Medical treatment; Robotics and automation; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN
0-7803-7759-1
Type
conf
DOI
10.1109/AIM.2003.1225495
Filename
1225495
Link To Document