| Abstract |
Recently, skill preservation of an expert and
skill training have been a serious problem of the medical or
production fields. This paper proposes a task preservation
and reproduction of multi-degree-of-freedom motion using
interaction mode control based on bilateral motion control.
The proposed task preservation system is composed of two
modes; acquisition mode and reproduction mode. In the
acquisition mode, the control system is based on bilateral
control. Since a touching motion is subject to the “law
of action and reaction”, it is possible to decompose force
information into action force and reaction force by using the
bilateral control. Furthermore, human motion is acquired in
decoupled modal space by using the mode quarry matrix.
The decoupled modes correspond to “moving”, “yawing”,
“grasping” tasks, and so on. Thus the multi-degree-offreedom
motion by a human is easily obtained and analyzed
in the modal space. In the reproduction mode, the acquired
human motion is reproduced in the modal space by using
the interaction mode control.
The proposed task preservation system is applied for
grasping motion by three fingers. The experimental results
show viability of the proposed method. |
