Abstract
This paper presents a one-axis massage robot for humans. The massage robot is controlled by force control algorithms so that a force sensor is mounted to measure the contact force and a ball caster is attached at the end to minimize the friction force. The massage robot is installed to an x-y-z gantry type robot arm to move the end effector to a specific position on the object. Force is controlled in the z-axis direction only. Three distinct force control algorithms are tested. Two major force control algorithms, hybrid and impedance force control, are tested along with an explicit force control algorithm. Experimental studies are performed on the artificial skin of a human model for cardiopulmonary resuscitation (CPR) training. Force control performances by each algorithm are compared.
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