Purpose To ensure the motion attitude and stable contact force of massage robot working on unknown human tissue environment, this study aims to propose a robotic system for autonomous massage path planning and stable interaction control. Design/methodology/approach First, back region extraction...

Purpose The paper aims to reduce the low-frequency resonance and residual vibration of the robot during the operation, improve the working accuracy and efficiency. A reduced weight and large load-to-weight ratio can improve the practical application of a collaborative robot. However, flexibility...