Robotic VR Massage System: Physical Care Robot with Out-of-Body Experience in Virtual Karesansui

Abstract

We have developed a robotic VR system that combines a physical care robot with a visual massage therapy in virtual environments. The robotic finger generates a periodic pressing pattern designed using learning data from skilled therapists. The virtual massage movement can be seamlessly synchronized with the movements of the physical care robot controlled in the real world using a high-sensitive force sensor on the robot end-effector, This creates an out-of-body experience in the third-person perspective. Furthermore, the robotic VR massage system provide a healing impression through the design of Karesansui, a Japanese dry garden related to Zen.