A new approach for developing an intelligent massage robot is presented. Massage is popular as a form of body conditioning and was been mechanized in our country. However, conventional machines have some drawbacks to be improved on providing a certain comfort close to human therapies. We focus on ways to realize kneading massage actions which are considered to be the most difficult for machines. The action is first shown in a physical manner and the control is discussed based on a position/force hybrid controller. Then, some related problems are made apparent which have led to a new concept using a learning or adaptive mechanism. Finally, experiments using a test bed called the MTU (mechanotherapy unit) have proven that there is a good possibility of developing an innovative massage robot.
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