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 quarry matrix. The decoupled modes correspond to “moving”, “yawing”, “grasping” motions. Thus the multi-degree-of-freedom 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.
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