...Xiaoqing Zhang; Genliang Xiong; Peng Yin; Yanfeng Gao; Yan Feng 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...

..., a massage robot, which could reproduce the expert techniques with individualized manipulation parameters and enhanced safety control strategies, is presented in this paper. Design/methodology/approach The kinematic and force features of key massage techniques, such as Thumb Kneading, Pressing, Rolling...