Force Analysis of Arm Wrestling Entertainment System and its Application to Control Design

This paper analyzes the changes in interaction force between the arm wrestling entertainment system and human hand, and presents a control strategy of force/velocity for arm wrestling robot (AWR) system. Based on the mass-spring-viscidity system model, the AWR control system adjusts the motor rotating direction and speed by using the information of force and angular speed feedback. This robotic machine performs arm wrestling games with people on a table. And, we can make the competition interesting by choosing the different competition rank. The system has good adaptability and the feasibility of the control method is demonstrated by the experiment results