13 research outputs found
DYNAMICS AND IMPROVED COMPUTED TORQUE CONTROL OF A NOVEL MEDICAL PARALLEL MANIPULATOR: APPLIED TO CHEST COMPRESSIONS TO ASSIST IN CARDIOPULMONARY RESUSCITATION
A Pre-Compensation Fuzzy Logic Algorithm Designed for the Dynamic Compensation Robotic System
A Force-Position Control System Based on Soft Tissue under Large Deformation
We introduce an extension of the mass-spring model applied to human tissue that can truly reflect the mechanical properties of a living person's tissue under large deformations under pressure by a massage head. The model is used in the force-position control system and helps us to control the massage force more accurately. Parameters of the model were determined according to the experimental results. Simulation results demonstrated that the model succeeded in modeling living tissue under large deformation, and the force-position control system based on the soft tissue model under large deformation achieved higher accuracy than the control system based on the soft tissue model with constant stiffness