{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T17:44:33Z","timestamp":1771523073734,"version":"3.50.1"},"reference-count":22,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2014,3,3]],"date-time":"2014-03-03T00:00:00Z","timestamp":1393804800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2015,2]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>For reproducing the manipulation of Traditional Chinese Medicine (TCM) remedial massage and meanwhile guaranteeing safety, a 4-degree-of-freedom anthropomorphic robotic arm with integrated elastic joints is developed, and a passivity-based impedance control is used. Due to the series elasticity, integrated joints may minimize large forces that occur during accidental impacts, and, further, may offer more accurate and stable force control and a capacity for energy storage. Human expert's fingertip force curve in the process of massage therapy is acquired <jats:italic>in vivo<\/jats:italic> by a dedicated measurement device. Then three massage techniques, pressing, kneading, and plucking, are implemented by the soft arm, respectively, on torso model <jats:italic>in vitro<\/jats:italic> and on human body <jats:italic>in vivo<\/jats:italic>. Experimental results show that the developed robotic arm can effectively replicate the TCM remedial massage techniques.<\/jats:p>","DOI":"10.1017\/s0263574714000228","type":"journal-article","created":{"date-parts":[[2014,3,3]],"date-time":"2014-03-03T10:55:46Z","timestamp":1393844146000},"page":"348-365","source":"Crossref","is-referenced-by-count":24,"title":["Anthropomorphic robotic arm with integrated elastic joints for TCM remedial massage"],"prefix":"10.1017","volume":"33","author":[{"given":"Yuancan","family":"Huang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jian","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiang","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Philippe","family":"Sou\u00e8res","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,3,3]]},"reference":[{"key":"S0263574714000228_ref2","unstructured":"K. C. Jones and D. Winncy , \u201cDevelopment of a massage robot for medical therapy,\u201d Proceedings of IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (2003) pp. 1096\u20131101."},{"key":"S0263574714000228_ref19","volume-title":"Nonlinear Systems Analysis","author":"Vidyasagar","year":"1978"},{"key":"S0263574714000228_ref13","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143860"},{"key":"S0263574714000228_ref7","volume-title":"Mechanical Design of Robots","author":"Rivin","year":"1988"},{"key":"S0263574714000228_ref18","doi-asserted-by":"publisher","DOI":"10.1115\/1.1978911"},{"key":"S0263574714000228_ref16","doi-asserted-by":"crossref","unstructured":"C. Otta , A. Albu-Sch\u00e4ffer and G. Hirzinger , \u201cA passivity-based Cartesian impedance controller for flexible joint robots-Part I: Torque feedback and gravity compensation,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2004) pp. 2659\u20132665.","DOI":"10.1109\/ROBOT.2004.1307462"},{"key":"S0263574714000228_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.509273"},{"key":"S0263574714000228_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.915438"},{"key":"S0263574714000228_ref20","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0507-7"},{"key":"S0263574714000228_ref15","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"S0263574714000228_ref5","doi-asserted-by":"publisher","DOI":"10.1163\/156855307781389419"},{"key":"S0263574714000228_ref17","doi-asserted-by":"crossref","unstructured":"A. Albu-Sch\u00e4ffer , C. Otta and G. Hirzinger , \u201cA passivity-based Cartesian impedance controller for flexible joint robots-Part II: Full state feedback, impedance design and experiments,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2004) pp. 2666\u20132673.","DOI":"10.1109\/ROBOT.2004.1307463"},{"key":"S0263574714000228_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1996.570698"},{"key":"S0263574714000228_ref3","first-page":"111","volume-title":"Proceedings of International Special Topic Conference on ITAB","author":"Koga","year":"2007"},{"key":"S0263574714000228_ref9","doi-asserted-by":"publisher","DOI":"10.1108\/01439910210425522"},{"key":"S0263574714000228_ref6","first-page":"1962","volume-title":"Proceedings of the IEEE International Conference on Robotics and Biomimetics","author":"Huang","year":"2012"},{"key":"S0263574714000228_ref4","first-page":"3175","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Grebenstein","year":"2011"},{"key":"S0263574714000228_ref10","first-page":"561","volume-title":"Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics","author":"Robinson","year":"1999"},{"key":"S0263574714000228_ref11","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907073776"},{"key":"S0263574714000228_ref21","first-page":"573","volume-title":"IFAC Nonlinear Control Systems Design","author":"Won","year":"1998"},{"key":"S0263574714000228_ref22","first-page":"1175","article-title":"Passivity-based Cartesian impedance control for flexible joint manipulators","volume":"2","author":"Albu-Sch\u00e4ffer","year":"2004","journal-title":"6th IFAC Symposium on Nonlinear Control Systems"},{"key":"S0263574714000228_ref8","first-page":"399","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Pratt","year":"1995"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714000228","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,21]],"date-time":"2019-04-21T14:57:57Z","timestamp":1555858677000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714000228\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,3,3]]},"references-count":22,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2015,2]]}},"alternative-id":["S0263574714000228"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714000228","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,3,3]]}}}