Force Control of an Intelligent Armwrestling System

An intelligent arm-wrestling system recently developed in our laboratory is comprised of an arm-force generation mechanism and a control system that detects the maximum arm-force of a user in the early stage of the match, generates a different game scenario each time, and executes force feedback control to implement the scenario. This paper presents a mathematical modeling of the force control system of the intelligent arm-wrestling system via experimental frequency responses using a control system analyzer, and force control of the system. The validity of the derived model and force control logic is demonstrated through simulation and experimental studies