Xiao-Song Zhao

An Adaptive PID-SAC Algorithm for Robotic Constant Force Tracking of Massage Robotic Arm

During continuous operation on the human back, the actual contact force exerted by a massage robotic arm may deviate from the desired value because of soft-tissue viscoelasticity, body-surface curvature changes, respiratory motion, and random disturbances. To achieve stable constant-force tracking, we propose a coordin...