AntiKli-MAX 5000 : A robotic head massager with an implemented distance sensor

Sammanfattning: Robots are increasingly being used in personal households for service-related tasks such as floor cleaning, lawn mowing or entertainment. However, there is still a lack of household robots performing tactile service-related tasks that requires human-robot interaction. This bachelor’s thesis considers the possible improvement of a robotic head massager performing a head massage by using feedback from a distance sensor. The construction consists of a robot arm with two degrees of freedom. The robot arm is holding a head massager that is implemented with a distance sensor. The distance sensor is used to explore the possible improvement of the safety of the product by stopping the massage whenever the distance to the head was less or equal to 3 cm. The embedded system was controlled by an Arduino Uno that was connected to a computer. The results showed that the distance sensor can in fact improve the safety of the robotic head massager, however it did not always work which opened up a discussion about counter productivity to claim the product as safer.