A Fuzzy Controller-based Automated Force Control Method for the Strength of Chinese Massage by Humanoid Manipulator

In order to control the humanoid manipulator, the Chinese medicine massage force can be automatically adjusted according to human demand, and ensure that the massage force is close to the masseur’s manual treatment effect, an automatic control method of Chinese medicine massage force of humanoid manipulator based on fuzzy controller is designed. This method constructs the dynamic model of the massage robot, analyzes the relationship between the motor voltage and the rotation frequency of the manipulator, and believes that the voltage affects the rotation frequency of the motor, and then affects the massage force. The PVDF sensor is installed on the manipulator structure to collect the manipulator motor voltage signal that can represent the massage force. According to the collected signals, a fuzzy logic controller is designed with force error and force error change rate as the input, and the manipulator motor output voltage as the control output. The controller uses a dragonfly optimization algorithm to optimize and adjust the fuzzy control parameters, so as to realize the automatic control of Chinese massage force of humanoid manipulator. The experimental results show that under the control of this method, the change of Chinese massage force of the humanoid manipulator is similar to that of human hand massage, and it can automatically enter the steady state massage program according to the set intensity.