Toward automatic robotic massage based on interactive trajectory planning and control
| Title: | Toward automatic robotic massage based on interactive trajectory planning and control |
|---|---|
| Authors: | Qinling Xu, Zhen Deng, Chao Zeng, Zhuoran Li, Bingwei He, Jianwei Zhang |
| Source: | Complex & Intelligent Systems, Vol 10, Iss 3, Pp 4397-4407 (2024) |
| Publisher Information: | Springer, 2024. |
| Publication Year: | 2024 |
| Collection: | LCC:Electronic computers. Computer science LCC:Information technology |
| Subject Terms: | Physical robot–environment interaction, Robot massage, Interactive trajectory planning, Visual servoing, Electronic computers. Computer science, QA75.5-76.95, Information technology, T58.5-58.64 |
| More Details: | Abstract Autonomous robotic massage holds the potential to alleviate the workload of nurses and improve the quality of healthcare. However, the complexity of the task and the dynamic of the environment present significant challenges for robotic massage. This paper presents a vision-based robotic massage (VBRM) framework that facilitates autonomous robot massaging of the human body while ensuring safe operation in a dynamic environment. The VBRM framework allows the operator to define the massage trajectory by drawing a 2D curve on an RGB image. An interactive trajectory planning method is developed to calculate a 3D massage trajectory from the 2D trajectory. This method accounts for potential movements of the human body and updates the planned trajectory using rigid point cloud registration. Additionally, a hybrid motion/force controller is employed to regulate the motion of the robot’s end-effector, considering the possibility of excessive contact force. The proposed framework enables the operator to adjust the massage trajectory and speed according to their requirements. Real-world experiments are conducted to evaluate the efficacy of the proposed approach. The results demonstrate that the framework enables successful planning and execution of the massage task in a dynamic environment. Furthermore, the operator has the flexibility to set the massage trajectory, speed, and contact force arbitrarily, thereby enhancing human–machine interaction. |
| Document Type: | article |
| File Description: | electronic resource |
| Language: | English |
| ISSN: | 2199-4536 2198-6053 |
| Relation: | https://doaj.org/toc/2199-4536; https://doaj.org/toc/2198-6053 |
| DOI: | 10.1007/s40747-024-01384-5 |
| Access URL: | https://doaj.org/article/88eb64a3f15a46a39e3ae703228cbdce |
| Accession Number: | edsdoj.88eb64a3f15a46a39e3ae703228cbdce |
| Database: | Directory of Open Access Journals |
| ISSN: | 21994536 21986053 |
|---|---|
| DOI: | 10.1007/s40747-024-01384-5 |
| Published in: | Complex & Intelligent Systems |
| Language: | English |