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Toyohashi City, 441-8580 panya,miyoshi,terasima@procon.tutpse.tut.ac.jp Japan Abslract-Thii paper prrsents a massage motion control system comprised of position control and force contml in a multi-lingered robot hand. By making use of an algorithm which cunverted the desired fingertip trrcjecto~~ into the desired angle of links in each linger hy means of inverse kinematics, the finger position control from the initial position of the multi-lingered robot hand to a target position of the objects for massage was achieved. Its controller was used until the robot hand contacted the objects for massage. After contact was made, the fingertip position control was switched to a force contml position needed (0 apply pressure for the massage. The fingertip forces exerted by an expert human therapist was m m r e d using sheet distribution pressum sensors, and the dahs obtained was recorded in a computer.Alter the measnmments were taken, the hnman expert's fingertip farce was reproduced by the robot hand. The fingertip lorce ol the robot hand was controlled using feedback obtained with a B-aais force sensor. To make the force of each lingertip of the four-tbgered robot hand track to the hgertip force exerted by the expert human massage therapist, PI %NO compensation and a Jacobian matrix were d y applied lor the human's shoulder. Through simulation and experiments, the usefulness 01 the proposed control systems WBS demonstrated.

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A massage expert using a humanoid robot hand is constructed, and motion control using neural networks (NNs), teaching of fingertip pressure in massage of the robot hand, and its reproduction of force are reported. Force exerted when an expert massages shoulders was detected using distribution pressure sensors, taught to the robot hand, and reproduced by it. It massaged with pressure safe for human beings and similar to an expert.