Application of Neural Network to Teaching of Massage using Multi-fingered Robot Hand

摘要

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.